From 7629075caecb045f49ffa8526919dec30cb08495 Mon Sep 17 00:00:00 2001 From: TSC21 Date: Fri, 13 Jul 2018 17:16:26 +0100 Subject: [PATCH] lpe: sensors: mocap: fix global ref init logic --- src/modules/local_position_estimator/sensors/mocap.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/local_position_estimator/sensors/mocap.cpp b/src/modules/local_position_estimator/sensors/mocap.cpp index a72b3b1d40..6a2d1059f4 100644 --- a/src/modules/local_position_estimator/sensors/mocap.cpp +++ b/src/modules/local_position_estimator/sensors/mocap.cpp @@ -41,7 +41,7 @@ void BlockLocalPositionEstimator::mocapInit() _global_ref_timestamp = hrt_absolute_time(); _is_global_cov_init = globallocalconverter_initialized(); - if (!_map_ref.init_done && _is_global_cov_init && _visionUpdated) { + if (!_map_ref.init_done && _is_global_cov_init && !_visionUpdated) { // initialize global origin using the mocap estimator reference (only if the vision estimation is not being fused as well) mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] global origin init (mocap) : lat %6.2f lon %6.2f alt %5.1f m", double(_ref_lat), double(_ref_lon), double(_ref_alt));