From 691fdf713cf5a80dbe674c850eb08a5a16168753 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Fri, 5 Jul 2024 12:43:07 -0400
Subject: [PATCH] ekf2: airspeed update last hor vel timestamp if successfully
 updating all states

---
 src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp
index c9822d4829..46dc33e491 100644
--- a/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp
@@ -217,6 +217,10 @@ void Ekf::fuseAirspeed(const airspeedSample &airspeed_sample, estimator_aid_sour
 
 	if (is_fused) {
 		aid_src.time_last_fuse = _time_delayed_us;
+
+		if (!update_wind_only) {
+			_time_last_hor_vel_fuse = _time_delayed_us;
+		}
 	}
 }