ekf2: simplify global position publication validity check

3 years ago · f8d7574d3c
1 changed files with 1 additions and 1 deletions
--- 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