Update time of last fusion event really only if fused

Except for the velpos fusion

EKF/sideslip_fusion.cpp

@@ -192,9 +192,6 @@ void Ekf::fuseSideslip()
 			_innov_check_fail_status.flags.reject_sideslip = false;
 		}
 
-		// synthetic sideslip measurement sample has passed check so record it
-		_time_last_beta_fuse = _time_last_imu;
-
 		// apply covariance correction via P_new = (I -K*H)*P
 		// first calculate expression for KHP
 		// then calculate P - KHP
@@ -249,6 +246,8 @@ void Ekf::fuseSideslip()
 
 			// apply the state corrections
 			fuse(Kfusion, _beta_innov);
+
+			_time_last_beta_fuse = _time_last_imu;
 		}
 	}
 }