From b32f3f648b3a51f4098d15fdb6c9fd38225efb1b Mon Sep 17 00:00:00 2001 From: Pernilla Date: Fri, 24 Oct 2025 13:56:23 +0200 Subject: [PATCH] Failsafe: only update timer if in air --- .../commander/HealthAndArmingChecks/checks/estimatorCheck.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp index 8d575f74e5..fad83acdf6 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp @@ -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; }