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airspeed selector: only do sideslip fusion (for airspeed less wind estimate) if not landed

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-10-19 10:35:28 +02:00
committed by Mathieu Bresciani
parent ebc883f157
commit aade01776a
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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@@ -522,7 +522,7 @@ void AirspeedModule::update_wind_estimator_sideslip()
if (_vehicle_local_position_valid
&& _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
&& _vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
&& !_vehicle_land_detected.landed) {
Vector3f vI(_vehicle_local_position.vx, _vehicle_local_position.vy, _vehicle_local_position.vz);
Quatf q(_vehicle_attitude.q);