From 1b7115dec9d91d4b9868b640cb2fc389b3f23b5f Mon Sep 17 00:00:00 2001
From: Roman Bapst <bapstr@ethz.ch>
Date: Wed, 30 Mar 2016 16:57:17 +0200
Subject: [PATCH] increased airspeed fusion rate to 12.5Hz

---
 EKF/estimator_interface.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp
index 2185a2c9be..c744b9b208 100644
--- a/EKF/estimator_interface.cpp
+++ b/EKF/estimator_interface.cpp
@@ -206,7 +206,7 @@ void EstimatorInterface::setAirspeedData(uint64_t time_usec, float *data)
 		return;
 	}
 
-	if (time_usec - _time_last_airspeed > 1000000) { //Limit the airspeed update rate to 1 Hz for now
+	if (time_usec - _time_last_airspeed > 80000) {
 		airspeedSample airspeed_sample_new;
 		airspeed_sample_new.airspeed = *data;
 		airspeed_sample_new.time_us = time_usec - _params.airspeed_delay_ms * 1000;