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EKF2: Report zero as position until local pos is valid

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This commit is contained in:
Lorenz Meier 2016-07-31 14:01:32 +02:00
parent c835fb36a6
commit a1c8585342
1 changed files with 2 additions and 2 deletions
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4
src/modules/ekf2/ekf2_main.cpp
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@ -745,8 +745,8 @@ void Ekf2::task_main()
// Position of body origin in local NED frame
_ekf.get_position(pos);
lpos.x = pos[0];
lpos.y = pos[1];
lpos.x = (_ekf.local_position_is_valid()) ? pos[0] : 0.0f;
lpos.y = (_ekf.local_position_is_valid()) ? pos[1] : 0.0f;
lpos.z = pos[2];
// Velocity of body origin in local NED frame (m/s)