From e4f5710ec36a0d451c94be6476731c985c51d332 Mon Sep 17 00:00:00 2001
From: CarlOlsson <carlolsson.co@gmail.com>
Date: Wed, 8 Jun 2016 19:57:44 +0200
Subject: [PATCH] added logic for beta fusion

---
 src/modules/ekf2/ekf2_main.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index ddb869a8f0d4..558c48519065 100644
--- 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;