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AP_NavEKF2: only fuse airspeed if healthy

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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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1
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -756,6 +756,7 @@ void NavEKF2_core::readAirSpdData()
const auto *aspeed = dal.airspeed(); const auto *aspeed = dal.airspeed();
if (aspeed && if (aspeed &&
aspeed->use() && aspeed->use() &&
aspeed->healthy() &&
aspeed->last_update_ms() != timeTasReceived_ms) { aspeed->last_update_ms() != timeTasReceived_ms) {
tasDataNew.tas = aspeed->get_airspeed() * dal.get_EAS2TAS(); tasDataNew.tas = aspeed->get_airspeed() * dal.get_EAS2TAS();
timeTasReceived_ms = aspeed->last_update_ms(); timeTasReceived_ms = aspeed->last_update_ms();