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ekf2: use validated airspeed from airspeed sensor only

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don't use synthetic measurements to prevent circular dependency
This commit is contained in:
bresch
2022-09-23 11:49:30 +02:00
committed by Daniel Agar
parent 8080ca966a
commit cddade2047
1 changed files with 1 additions and 0 deletions
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src/modules/ekf2/EKF2.cpp
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@@ -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,