From f8d7574d3c4bec1c3be32b74141ac2caaf78753f Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 20 Feb 2022 16:34:24 -0500
Subject: [PATCH] ekf2: simplify global position publication validity check

---
 src/modules/ekf2/EKF2.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index d3df5ea2c7..5ae684d7af 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -728,7 +728,7 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
 
 void EKF2::PublishGlobalPosition(const hrt_abstime &timestamp)
 {
-	if (_ekf.global_position_is_valid() && !_preflt_checker.hasFailed()) {
+	if (_ekf.global_position_is_valid()) {
 		const Vector3f position{_ekf.getPosition()};
 
 		// generate and publish global position data