From 06aa78a291e478cb6613267bfa34db0f7d1acadf Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sat, 15 Aug 2020 09:29:57 +1000 Subject: [PATCH] EKF: Only record airspeed fusion event when states are updated --- EKF/airspeed_fusion.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/EKF/airspeed_fusion.cpp b/EKF/airspeed_fusion.cpp index fc057ee2e2..d9a86a59fe 100644 --- a/EKF/airspeed_fusion.cpp +++ b/EKF/airspeed_fusion.cpp @@ -152,9 +152,6 @@ void Ekf::fuseAirspeed() _innov_check_fail_status.flags.reject_airspeed = false; } - // Airspeed measurement sample has passed check so record it - _time_last_arsp_fuse = _time_last_imu; - // apply covariance correction via P_new = (I -K*H)*P // first calculate expression for KHP // then calculate P - KHP