diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp index c891c45181..07ccb422c2 100644 --- a/EKF/ekf.cpp +++ b/EKF/ekf.cpp @@ -305,6 +305,11 @@ bool Ekf::update() _last_known_posNE(1) = _state.pos(1); _fuse_flow = false; } + + // TODO This is just to get the logic inside but we will only start fusion once we tested this again + if (_airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_airspeed_sample_delayed) && false) { + fuseAirspeed(); + } } // the output observer always runs