From cddade2047e11c055e79c0d5ffd115c129727776 Mon Sep 17 00:00:00 2001 From: bresch Date: Fri, 23 Sep 2022 11:49:30 +0200 Subject: [PATCH] ekf2: use validated airspeed from airspeed sensor only don't use synthetic measurements to prevent circular dependency --- src/modules/ekf2/EKF2.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index f286c2f990..f56fcf647f 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -1576,6 +1576,7 @@ void EKF2::UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps) if (PX4_ISFINITE(airspeed_validated.true_airspeed_m_s) && PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s) && (airspeed_validated.calibrated_airspeed_m_s > 0.f) + && (airspeed_validated.selected_airspeed_index > 0) ) { airspeedSample airspeed_sample { .time_us = airspeed_validated.timestamp,