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ekf2: simplify global position publication validity check

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This commit is contained in:
Daniel Agar 2022-02-20 16:34:24 -05:00
parent be92165c54
commit f8d7574d3c
1 changed files with 1 additions and 1 deletions
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2
src/modules/ekf2/EKF2.cpp
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@ -728,7 +728,7 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
void EKF2::PublishGlobalPosition(const hrt_abstime &timestamp)
{
if (_ekf.global_position_is_valid() && !_preflt_checker.hasFailed()) {
if (_ekf.global_position_is_valid()) {
const Vector3f position{_ekf.getPosition()};
// generate and publish global position data