From 22c8d91389d2adea9595b4ed2f09c6c72035ae6c Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 17 Mar 2014 22:46:48 +0400 Subject: position_estimator_inav: mark local position as valid even if GPS not available (e.g. only FLOW) --- src/modules/position_estimator_inav/position_estimator_inav_main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/position_estimator_inav/position_estimator_inav_main.c') diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index eddf6e94e..f3b9b9d85 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -810,7 +810,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (t > pub_last + pub_interval) { pub_last = t; /* publish local position */ - local_pos.xy_valid = can_estimate_xy && use_gps_xy; + local_pos.xy_valid = can_estimate_xy; local_pos.v_xy_valid = can_estimate_xy; local_pos.xy_global = local_pos.xy_valid && use_gps_xy; local_pos.z_global = local_pos.z_valid && use_gps_z; -- cgit v1.2.3