fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: always publish global position when origin has been set

Browse Source
This commit is contained in:
Marco Hauswirth 2024-10-04 17:41:20 +02:00 committed by GitHub
parent ad28c5893b
commit 7d0e93b779
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/ekf2/EKF2.cpp
View File

@ -1164,7 +1164,7 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
void EKF2::PublishGlobalPosition(const hrt_abstime &timestamp)
{
if (_ekf.global_position_is_valid()) {
if (_ekf.global_origin_valid() && _ekf.control_status().flags.yaw_align) {
const Vector3f position{_ekf.getPosition()};
// generate and publish global position data