EKF: Publish initial altitude estimate in any case

This commit is contained in:
Lorenz Meier 2015-06-21 20:00:38 +02:00 committed by tumbili
parent 6a00fce009
commit c46b4a29b8
1 changed files with 3 additions and 4 deletions

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@ -699,10 +699,9 @@ void AttitudePositionEstimatorEKF::task_main()
// Publish Local Position estimations
publishLocalPosition();
// Publish Global Position, but only if it's any good
if (_gpsIsGood || _global_pos.dead_reckoning) {
publishGlobalPosition();
}
// Publish Global Position, it will have a large uncertainty
// set if only altitude is known
publishGlobalPosition();
// Publish wind estimates
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {