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airspeed_selector: don't consider vehicle_local_position valid if dead_reckoning

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This commit is contained in:
Daniel Agar
2022-07-13 09:01:33 +02:00
committed by Silvan Fuhrer
parent ac209c2e78
commit a2f83269e9
1 changed files with 3 additions and 1 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+3 -1
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@@ -505,7 +505,9 @@ void AirspeedModule::poll_topics()
_vehicle_local_position_valid = (_time_now_usec - _vehicle_local_position.timestamp < 1_s) _vehicle_local_position_valid = (_time_now_usec - _vehicle_local_position.timestamp < 1_s)
&& (_vehicle_local_position.timestamp > 0) && _vehicle_local_position.v_xy_valid; && (_vehicle_local_position.timestamp > 0)
&& _vehicle_local_position.v_xy_valid
&& !_vehicle_local_position.dead_reckoning;
} }
void AirspeedModule::update_wind_estimator_sideslip() void AirspeedModule::update_wind_estimator_sideslip()