forked from Archive/PX4-Autopilot
EKF: Publish initial altitude estimate in any case
This commit is contained in:
parent
6a00fce009
commit
c46b4a29b8
|
@ -699,10 +699,9 @@ void AttitudePositionEstimatorEKF::task_main()
|
||||||
// Publish Local Position estimations
|
// Publish Local Position estimations
|
||||||
publishLocalPosition();
|
publishLocalPosition();
|
||||||
|
|
||||||
// Publish Global Position, but only if it's any good
|
// Publish Global Position, it will have a large uncertainty
|
||||||
if (_gpsIsGood || _global_pos.dead_reckoning) {
|
// set if only altitude is known
|
||||||
publishGlobalPosition();
|
publishGlobalPosition();
|
||||||
}
|
|
||||||
|
|
||||||
// Publish wind estimates
|
// Publish wind estimates
|
||||||
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
|
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
|
||||||
|
|
Loading…
Reference in New Issue