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airspeed_selector: update wind estimator (w/o airspeed fusion) always if in FW mode

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This fixes a bug where by accident the vtol_status was considered instead of the
vehicle_status, preventing it from running on planes.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-10-19 10:35:28 +02:00
committed by Mathieu Bresciani
parent 7e49147bcf
commit 0c4b2cd0c5
1 changed files with 2 additions and 2 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+2 -2
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@@ -521,8 +521,8 @@ void AirspeedModule::update_wind_estimator_sideslip()
_wind_estimator_sideslip.update(_time_now_usec); _wind_estimator_sideslip.update(_time_now_usec);
if (_vehicle_local_position_valid if (_vehicle_local_position_valid
&& _vtol_vehicle_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW && && _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { && _vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
Vector3f vI(_vehicle_local_position.vx, _vehicle_local_position.vy, _vehicle_local_position.vz); Vector3f vI(_vehicle_local_position.vx, _vehicle_local_position.vy, _vehicle_local_position.vz);
Quatf q(_vehicle_attitude.q); Quatf q(_vehicle_attitude.q);