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fixed bug in beta fusion

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This commit is contained in:
CarlOlsson
2016-11-05 12:19:01 +01:00
committed by Lorenz Meier
parent 0e3ae4b323
commit a9182259a5
1 changed files with 2 additions and 3 deletions
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EKF/control.cpp
+2 -3
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@@ -778,13 +778,12 @@ 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_imu - _time_last_arsp_fuse > 5e6){
if(beta_fusion_time_triggered && _control_status.flags.fuse_beta && _control_status.flags.in_air && _time_last_arsp_fuse > 5e6){
fuseSideslip();
}
bool sideslip_timed_out = _time_last_imu - _time_last_beta_fuse > 10e6;
if(sideslip_timed_out && _control_status.flags.fuse_beta){
if(sideslip_timed_out && _control_status.flags.fuse_beta && _time_last_beta_fuse > 0.0f){
_control_status.flags.wind = false;
}