added logic for beta fusion

maxond · Nov 15, 2016 · e4f5710 · e4f5710
1 parent f00f6e6
commit e4f5710
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
@@ -628,6 +628,10 @@ void Ekf2::task_main()
  _ekf.setAirspeedData(airspeed.timestamp, &airspeed.true_airspeed_m_s, &eas2tas);
  }
 
+ // only fuse synthetic sideslip measurements if conditions are met
+ bool fuse_beta = !vehicle_status.is_rotary_wing && _fuseBeta.get();
+ _ekf.set_fuse_beta_flag(fuse_beta);
+
  if (optical_flow_updated) {
  flow_message flow;
  flow.flowdata(0) = optical_flow.pixel_flow_x_integral;