From 2071a19a407407e9d3568e4e188ed274d7ff08cb Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 8 Dec 2020 14:04:16 +1100 Subject: [PATCH] AP_NavEKF3: only fuse airspeed if healthy --- libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp index e5d13f06243..6b0e6dbcea7 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp @@ -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);