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AP_NavEKF3: only fuse airspeed if healthy

This commit is contained in:
Andrew Tridgell 2021-01-06 08:29:52 +11:00
parent e52a2a573d
commit 1d7519d0c9
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -773,8 +773,8 @@ void NavEKF3_core::readAirSpdData()
// know a new measurement is available
const AP_Airspeed *aspeed = _ahrs->get_airspeed();
if (aspeed &&
aspeed->use() &&
(aspeed->last_update_ms() - timeTasReceived_ms) > frontend->sensorIntervalMin_ms) {
aspeed->use() && aspeed->healthy() &&
(aspeed->last_update_ms() - timeTasReceived_ms) > frontend->sensorIntervalMin_ms) {
tasDataNew.tas = aspeed->get_raw_airspeed() * AP::ahrs().get_EAS2TAS();
timeTasReceived_ms = aspeed->last_update_ms();
tasDataNew.time_ms = timeTasReceived_ms - frontend->tasDelay_ms;