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AP_NavEKF3: do not log DefaultAirspeed if logging not started

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if we are not going to use this value ourselves then we certainly should not add it to the replay log
This commit is contained in:
Peter Barker 2024-08-21 09:56:15 +10:00 committed by Andrew Tridgell
parent 00dc15063e
commit 4e27c51aa1
1 changed files with 7 additions and 4 deletions
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11
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -2043,12 +2043,15 @@ void NavEKF3::updateLaneSwitchPosDownResetData(uint8_t new_primary, uint8_t old_
// Writes the default equivalent airspeed and 1-sigma uncertainty in m/s to be used in forward flight if a measured airspeed is required and not available.
void NavEKF3::writeDefaultAirSpeed(float airspeed, float uncertainty)
{
// ignore any data if the EKF is not started
if (!core) {
return;
}
AP::dal().log_writeDefaultAirSpeed3(airspeed, uncertainty);
if (core) {
for (uint8_t i=0; i<num_cores; i++) {
core[i].writeDefaultAirSpeed(airspeed, uncertainty);
}
for (uint8_t i=0; i<num_cores; i++) {
core[i].writeDefaultAirSpeed(airspeed, uncertainty);
}
}