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AP_NavEKF3: use AHRS likely flying state

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this sets inFlight when AHRS has indicated flying for 5s
This commit is contained in:
Andrew Tridgell 2017-06-19 13:17:31 +10:00
parent cbffc29f0b
commit a1508b58c1
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
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@ -367,11 +367,11 @@ void NavEKF3_core::detectFlight()
inFlight = true; inFlight = true;
} }
// If more than 15 seconds armed since exiting on-ground, then we definitely are flying // If more than 5 seconds since likely_flying was set
if ((imuSampleTime_ms - timeAtArming_ms) > 15000) { // true, then set inFlight true
if (_ahrs->get_time_flying_ms() > 5000) {
inFlight = true; inFlight = true;
} }
} }
} }