GCS_MAVLink: send optflow message even if no height estimate

5 years ago · 188fdfb1b8
1 changed files with 3 additions and 6 deletions
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@ -2074,12 +2074,9 @@ void GCS_MAVLINK::send_opticalflow()
				@@ -2074,12 +2074,9 @@ void GCS_MAVLINK::send_opticalflow()
    const Vector2f &flowRate = optflow->flowRate();
    const Vector2f &bodyRate = optflow->bodyRate();

-    const AP_AHRS &ahrs = AP::ahrs();
-    float hagl = 0;
-    if (ahrs.have_inertial_nav()) {
-        if (!ahrs.get_hagl(hagl)) {
-            return;
-        }
+    float hagl;
+    if (!AP::ahrs().get_hagl(hagl)) {
+        hagl = 0;
    }

    // populate and send message