From a727ba6cf78de1b5d4c4042b729dfac8b39bf320 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 6 Jan 2020 10:19:49 +0900
Subject: [PATCH] GCS_MAVLink: send optflow message even if no height estimate

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 6d62a913f0..4880852c90 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -2055,12 +2055,9 @@ 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