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AP_NavEKF2: only fuse airspeed if healthy

This commit is contained in:
Andrew Tridgell 2020-12-08 14:04:03 +11:00
parent d16af5448b
commit 5e72907730
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -755,8 +755,9 @@ void NavEKF2_core::readAirSpdData()
// know a new measurement is available
const auto *aspeed = dal.airspeed();
if (aspeed &&
aspeed->use() &&
aspeed->last_update_ms() != timeTasReceived_ms) {
aspeed->use() &&
aspeed->healthy() &&
aspeed->last_update_ms() != timeTasReceived_ms) {
tasDataNew.tas = aspeed->get_airspeed() * dal.get_EAS2TAS();
timeTasReceived_ms = aspeed->last_update_ms();
tasDataNew.time_ms = timeTasReceived_ms - frontend->tasDelay_ms;