From 62ff39a669b08dbec8182263928409def32de365 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 9 Jul 2024 10:16:12 -0400
Subject: [PATCH] ekf2: EV vel (body) update last fuse timestamps

 - these are set by the NED fuseVelocity() helper so also need to be set in the body frame velocity case
---
 .../ekf2/EKF/aid_sources/external_vision/ev_vel_control.cpp  | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel_control.cpp
index c338b75ba1..62781e5081 100644
--- a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel_control.cpp
@@ -292,6 +292,11 @@ bool Ekf::fuseEvVelocity(estimator_aid_source3d_s &aid_src, const extVisionSampl
 
 		}
 
+		if (aid_src.fused) {
+			_time_last_hor_vel_fuse = _time_delayed_us;
+			_time_last_ver_vel_fuse = _time_delayed_us;
+		}
+
 		aid_src.timestamp_sample = current_aid_src.timestamp_sample;
 		return !aid_src.innovation_rejected;