From d66af65a9265faf6684d0d1909e2c4cfcbda4d14 Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Wed, 8 Jun 2016 19:48:01 +0200 Subject: [PATCH] ekf2: fixed airspeed thr bug --- src/modules/ekf2/ekf2_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index ea333769bc..8ab9faaac8 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -536,7 +536,7 @@ void Ekf2::task_main() // only set airspeed data if condition for airspeed fusion are met bool fuse_airspeed = airspeed_updated && !_vehicle_status.is_rotary_wing - && _arspFusionThreshold.get() <= airspeed.true_airspeed_m_s; + && _arspFusionThreshold.get() <= airspeed.true_airspeed_m_s && _arspFusionThreshold.get() >= 0.1f; if (fuse_airspeed) { float eas2tas = airspeed.true_airspeed_m_s / airspeed.indicated_airspeed_m_s;