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remove fixed-wing condition from airspeed fusion condition
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- enables airspeed fusion to begin during transition already - airspeed fusion is started based on airspeed being above defined threshold Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
committed by
Mathieu Bresciani
Mathieu Bresciani
parent
b1773df441
commit
1abc27dd1f
@@ -97,7 +97,6 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
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_aid_src_airspeed.innovation_rejected; // TODO: remove this redundant flag
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const bool continuing_conditions_passing = _control_status.flags.in_air
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&& _control_status.flags.fixed_wing
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&& !_control_status.flags.fake_pos;
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const bool is_airspeed_significant = airspeed_sample.true_airspeed > _params.arsp_thr;
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