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AP_AHRS: return perfect airspeed estimate for EKF-type 10

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... rather than the EKF3 estimate
This commit is contained in:
Peter Barker 2021-08-24 13:01:16 +10:00 committed by Andrew Tridgell
parent 29b13ff98a
commit a933652950
1 changed files with 4 additions and 9 deletions
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13
libraries/AP_AHRS/AP_AHRS.cpp
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@ -822,16 +822,11 @@ bool AP_AHRS::airspeed_estimate(float &airspeed_ret) const
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case EKFType::SIM:
#if HAL_NAVEKF3_AVAILABLE
if (EKF3.getWind(-1,wind_vel)) {
ret = true;
} else {
ret = false;
if (!_sitl) {
return false;
}
#else
ret = false;
#endif
break;
airspeed_ret = _sitl->state.airspeed;
return true;
#endif
#if HAL_NAVEKF2_AVAILABLE