Merge pull request #158 from CarlOlsson/act_ars_off_by_default

activate tas fusion, off by default
PX4 · Jun 8, 2016 · 2024252 · 2024252
2 parents e72788b + eded0a8
commit 2024252
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
@@ -365,9 +365,8 @@ bool Ekf::update()
 			_fuse_flow = false;
 		}
 
-		// TODO This is just to get the logic inside but we will only start fusion once we tested this again
-		//if (_airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_airspeed_sample_delayed)) {
-		if (false) {
+		// If we are using airspeed measurements and data has fallen behind the fusion time horizon then fuse it
+		if (_airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_airspeed_sample_delayed)) {
 			fuseAirspeed();
 		}
 	}