EKF2: sideslip_fusion: remove construced airspeed magnitude check to fuse beta

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2026-10-15 05:13:35 +08:00 · 2023-11-09 09:42:43 +01:00
parent 72c6db6b23
commit ec20f92558
1 changed files with 1 additions and 3 deletions
@@ -71,9 +71,7 @@ void Ekf::controlBetaFusion(const imuSample &imu_delayed)
 				resetWindToZero();
 			}

-			if (Vector2f(Vector2f(_state.vel) - _state.wind_vel).longerThan(7.f)) {
-				fuseSideslip(_aid_src_sideslip);
-			}
+			fuseSideslip(_aid_src_sideslip);
 		}
 	}
 }