From aade01776a8070e38981334b563ddf572f1fc2e1 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 7 Oct 2022 11:49:03 +0200 Subject: [PATCH] airspeed selector: only do sideslip fusion (for airspeed less wind estimate) if not landed Signed-off-by: Silvan Fuhrer --- src/modules/airspeed_selector/airspeed_selector_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/airspeed_selector/airspeed_selector_main.cpp b/src/modules/airspeed_selector/airspeed_selector_main.cpp index 59baf23e6f..80c1535fe9 100644 --- a/src/modules/airspeed_selector/airspeed_selector_main.cpp +++ b/src/modules/airspeed_selector/airspeed_selector_main.cpp @@ -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);