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airspeed selector: disable beta fusion when not in fixed-wing mode

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-10-23 12:20:45 +02:00
committed by Daniel Agar
parent 59564af860
commit 6d255df0a8
1 changed files with 1 additions and 1 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+1 -1
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@@ -463,7 +463,7 @@ void AirspeedModule::update_wind_estimator_sideslip()
/* update wind and airspeed estimator */
_wind_estimator_sideslip.update(_time_now_usec);
if (_vehicle_local_position_valid && att_valid) {
if (_vehicle_local_position_valid && att_valid && !_vtol_vehicle_status.vtol_in_rw_mode) {
Vector3f vI(_vehicle_local_position.vx, _vehicle_local_position.vy, _vehicle_local_position.vz);
Quatf q(_vehicle_attitude.q);