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Failsafe: only update timer if in air

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Pernilla
2025-10-24 13:56:23 +02:00
parent f9257147cb
commit b32f3f648b
1 changed files with 1 additions and 1 deletions
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src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+1 -1
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@@ -656,7 +656,7 @@ void EstimatorChecks::deadReckoningTimeout(const Context &context, Report &repor
_vehicle_land_detected_sub.copy(&vehicle_land_detected);
_in_air_valid = (now < vehicle_land_detected.timestamp + 2_s) && !vehicle_land_detected.landed;
if (!lpos.dead_reckoning || !_in_air_valid) {
if (!lpos.dead_reckoning && _in_air_valid) {
_last_not_dead_reckoning_time_us = now;
}