From 7d0e93b779fe2edcd7ff4cda8f4f48671dd1c833 Mon Sep 17 00:00:00 2001
From: Marco Hauswirth <58551738+haumarco@users.noreply.github.com>
Date: Fri, 4 Oct 2024 17:41:20 +0200
Subject: [PATCH] ekf2: always publish global position when origin has been set

---
 src/modules/ekf2/EKF2.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 8d66fcf52a..f7e64ce194 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -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