EKF: Allow sideslip fusion with airspeed fusion

9 years ago · 352b4ca177
1 changed files with 1 additions and 1 deletions
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@ -778,7 +778,7 @@ void Ekf::controlAirDataFusion()
				@@ -778,7 +778,7 @@ void Ekf::controlAirDataFusion()
 void Ekf::controlBetaFusion()
 {
 	bool beta_fusion_time_triggered = _time_last_imu - _time_last_beta_fuse > _params.beta_avg_ft_us;
- 	if(beta_fusion_time_triggered && _control_status.flags.fuse_beta && _control_status.flags.in_air && _time_last_arsp_fuse > 5e6){
+	if(beta_fusion_time_triggered && _control_status.flags.fuse_beta && _control_status.flags.in_air){
 		fuseSideslip();
 	}