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Does not publish map transform if tf_mode is off #95

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Does not publish map transform if tf_mode is off #95

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2 changes: 1 addition & 1 deletion src/publishers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1291,7 +1291,7 @@ void Publishers::handleFilterEcefPos(const mip::data_filter::EcefPos& ecef_pos,
(RosMipDevice::isPhilo(config_->mip_device_->device_info_) && config_->filter_state_ == mip::data_filter::FilterMode::GX5_RUN_SOLUTION_VALID) ||
(RosMipDevice::isProspect(config_->mip_device_->device_info_) && config_->filter_state_ == mip::data_filter::FilterMode::FULL_NAV)
);
if (!config_->map_to_earth_transform_valid_ && config_->filter_relative_pos_source_ == REL_POS_SOURCE_AUTO && full_nav)
if (config_->tf_mode_ == TF_MODE_RELATIVE && !config_->map_to_earth_transform_valid_ && config_->filter_relative_pos_source_ == REL_POS_SOURCE_AUTO && full_nav)
{
// Find the rotation between ECEF and NED/ENU for this position
double lat, lon, alt;
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