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EKF: Allow sideslip fusion with airspeed fusion

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This commit is contained in:
Paul Riseborough
2016-10-27 12:15:12 +11:00
committed by Lorenz Meier
parent fb6f4be453
commit 352b4ca177
1 changed files with 1 additions and 1 deletions
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EKF/control.cpp
+1 -1
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@@ -778,7 +778,7 @@ void Ekf::controlAirDataFusion()
void Ekf::controlBetaFusion()
{
bool beta_fusion_time_triggered = _time_last_imu - _time_last_beta_fuse > _params.beta_avg_ft_us;
if(beta_fusion_time_triggered && _control_status.flags.fuse_beta && _control_status.flags.in_air && _time_last_arsp_fuse > 5e6){
if(beta_fusion_time_triggered && _control_status.flags.fuse_beta && _control_status.flags.in_air){
fuseSideslip();
}