From b71fc631625398cacb04b58133235e33cd83d450 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 18 Oct 2022 09:14:36 -0400 Subject: [PATCH] ekf2: fix sideslip timeout (typo) --- src/modules/ekf2/EKF/control.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp index e89209a611..2038bfaefc 100644 --- a/src/modules/ekf2/EKF/control.cpp +++ b/src/modules/ekf2/EKF/control.cpp @@ -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(); }