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GCS_MAVLink: send optflow message even if no height estimate

This commit is contained in:
Randy Mackay 2020-01-06 10:19:49 +09:00
parent 32603b45fa
commit 188fdfb1b8
1 changed files with 3 additions and 6 deletions
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9
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -2074,12 +2074,9 @@ void GCS_MAVLINK::send_opticalflow()
const Vector2f &flowRate = optflow->flowRate();
const Vector2f &bodyRate = optflow->bodyRate();
const AP_AHRS &ahrs = AP::ahrs();
float hagl = 0;
if (ahrs.have_inertial_nav()) {
if (!ahrs.get_hagl(hagl)) {
return;
}
float hagl;
if (!AP::ahrs().get_hagl(hagl)) {
hagl = 0;
}
// populate and send message