forked from Archive/PX4-Autopilot
ekf2: Let the EKF know if the vehicle is operating as a fixed wing type. (#7667)
Setting this enables the EKF to use the GPS velocity to recover from bad compass yaw at launch.
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@ -732,6 +732,9 @@ void Ekf2::run()
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bool fuse_beta = !vehicle_status.is_rotary_wing && _fuseBeta.get();
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_ekf.set_fuse_beta_flag(fuse_beta);
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// let the EKF know if the vehicle motion is that of a fixed wing (forward flight only relative to wind)
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_ekf.set_is_fixed_wing(!vehicle_status.is_rotary_wing);
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if (optical_flow_updated) {
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flow_message flow;
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flow.flowdata(0) = optical_flow.pixel_flow_x_integral;
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