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airspeed_selector: don't declare wind estimate valid if estmator is not initialised

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2022-09-05 10:21:38 -04:00
committed by Daniel Agar
parent 9ed35debec
commit 0c860fa227
1 changed files with 1 additions and 1 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+1 -1
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@@ -547,7 +547,7 @@ void AirspeedModule::update_ground_minus_wind_airspeed()
{
const float wind_uncertainty = sqrtf(_wind_estimate_sideslip.variance_north + _wind_estimate_sideslip.variance_east);
if (wind_uncertainty < _param_wind_sigma_max_synth_tas.get()) {
if (_wind_estimator_sideslip.is_estimate_valid() && wind_uncertainty < _param_wind_sigma_max_synth_tas.get()) {
// calculate airspeed estimate based on groundspeed-windspeed
const float TAS_north = _vehicle_local_position.vx - _wind_estimate_sideslip.windspeed_north;
const float TAS_east = _vehicle_local_position.vy - _wind_estimate_sideslip.windspeed_east;