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ekf2: always publish global position when origin has been set

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This commit is contained in:
Marco Hauswirth
2024-10-04 17:41:20 +02:00
committed by GitHub
parent ad28c5893b
commit 7d0e93b779
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF2.cpp
+1 -1
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@@ -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