diff options
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 7 |
1 files changed, 1 insertions, 6 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index ef7201790..810ef457f 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -844,14 +844,9 @@ Navigator::task_main() /* Reset the _geofence_violation_warning_sent field */ _geofence_violation_warning_sent = false; } - - _global_pos_valid = true; - - } else { - /* assume that global position is valid if updated in last 20ms */ - _global_pos_valid = _global_pos.timestamp != 0 && hrt_abstime() < _global_pos.timestamp + 20000; } + _global_pos_valid = _vstatus.condition_global_position_valid; /* publish position setpoint triplet if updated */ if (_pos_sp_triplet_updated) { |