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AP_NavEKF3: only fuse airspeed if healthy

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This commit is contained in:
Andrew Tridgell
2020-12-11 09:59:49 +11:00
parent 5e72907730
commit 2071a19a40
1 changed files with 1 additions and 0 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@@ -815,6 +815,7 @@ void NavEKF3_core::readAirSpdData()
const auto *airspeed = dal.airspeed();
if (airspeed &&
airspeed->use(selected_airspeed) &&
airspeed->healthy(selected_airspeed) &&
(airspeed->last_update_ms(selected_airspeed) - timeTasReceived_ms) > frontend->sensorIntervalMin_ms) {
tasDataNew.tas = airspeed->get_airspeed(selected_airspeed) * dal.get_EAS2TAS();
timeTasReceived_ms = airspeed->last_update_ms(selected_airspeed);