From 480cb68e32b4ed9a5c7432420f8ab16c31a4c5fe Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Tue, 7 Jan 2025 15:32:48 +0300 Subject: [PATCH] remove fixed-wing condition from airspeed fusion condition - enables airspeed fusion to begin during transition already - airspeed fusion is started based on airspeed being above defined threshold Signed-off-by: RomanBapst --- src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp index 14873831fcee..075401e7a89f 100644 --- a/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp +++ b/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp @@ -97,7 +97,6 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed) _aid_src_airspeed.innovation_rejected; // TODO: remove this redundant flag const bool continuing_conditions_passing = _control_status.flags.in_air - && _control_status.flags.fixed_wing && !_control_status.flags.fake_pos; const bool is_airspeed_significant = airspeed_sample.true_airspeed > _params.arsp_thr;