ekf2: always publish global position when origin has been set

PX4 · Oct 4, 2024 · 7d0e93b · 7d0e93b
1 parent ad28c58
commit 7d0e93b
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
@@ -1164,7 +1164,7 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
 
 void EKF2::PublishGlobalPosition(const hrt_abstime &timestamp)
 {
-	if (_ekf.global_position_is_valid()) {
+	if (_ekf.global_origin_valid() && _ekf.control_status().flags.yaw_align) {
 		const Vector3f position{_ekf.getPosition()};
 
 		// generate and publish global position data