From 568972c0f09a704d0fbbd8f35c667e12c2caa479 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <gncsolns@gmail.com>
Date: Tue, 26 Sep 2023 19:36:39 +1000
Subject: [PATCH] AP_NavEKF3: Fix bug preventing use of default or synthetic
 airspeed

---
 libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index dbb60d9bac..ef465549af 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -868,7 +868,7 @@ void NavEKF3_core::readAirSpdData()
     // Allow use of a default value or a value synthesised from a stored wind velocity vector
     if (!useAirspeed()) {
         if (is_positive(defaultAirSpeed)) {
-            if (imuDataDelayed.time_ms - tasDataDelayed.time_ms > 200) {
+            if (imuDataDelayed.time_ms - lastTasPassTime_ms > 200) {
                 tasDataDelayed.tas = defaultAirSpeed * EAS2TAS;
                 tasDataDelayed.tasVariance = MAX(defaultAirSpeedVariance, sq(MAX(frontend->_easNoise, 0.5f)));
                 tasDataToFuse = true;
@@ -877,7 +877,7 @@ void NavEKF3_core::readAirSpdData()
                 tasDataToFuse = false;
             }
         } else if (windStateLastObsIsValid && !windStateIsObservable) {
-            if (imuDataDelayed.time_ms - tasDataDelayed.time_ms > 200) {
+            if (imuDataDelayed.time_ms - lastTasPassTime_ms > 200) {
                 // use stored wind state to synthesise an airspeed measurement
                 const Vector3F windRelVel = stateStruct.velocity - Vector3F(windStateLastObs.x, windStateLastObs.y, 0.0F);
                 tasDataDelayed.tas = windRelVel.length();