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ekf2: fix sideslip timeout (typo)

This commit is contained in:
Daniel Agar 2022-10-18 09:14:36 -04:00
parent 0d2ff6e224
commit b71fc63162
1 changed files with 2 additions and 2 deletions
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4
src/modules/ekf2/EKF/control.cpp
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@ -505,7 +505,7 @@ void Ekf::controlAirDataFusion()
// If both airspeed and sideslip fusion have timed out and we are not using a drag observation model then we no longer have valid wind estimates
const bool airspeed_timed_out = isTimedOut(_aid_src_airspeed.time_last_fuse, (uint64_t)10e6);
const bool sideslip_timed_out = isTimedOut(_aid_src_airspeed.time_last_fuse, (uint64_t)10e6);
const bool sideslip_timed_out = isTimedOut(_aid_src_sideslip.time_last_fuse, (uint64_t)10e6);
if (_control_status.flags.fake_pos || (airspeed_timed_out && sideslip_timed_out && !(_params.fusion_mode & SensorFusionMask::USE_DRAG))) {
_control_status.flags.wind = false;
@ -573,7 +573,7 @@ void Ekf::controlBetaFusion()
// activate the wind states
_control_status.flags.wind = true;
// reset the timeout timers to prevent repeated resets
_aid_src_airspeed.time_last_fuse = _imu_sample_delayed.time_us;
_aid_src_sideslip.time_last_fuse = _imu_sample_delayed.time_us;
resetWind();
}