airspeed_selector: don't consider vehicle_local_position valid if dead_reckoning

3 years ago · a2f83269e9
1 changed files with 3 additions and 1 deletions
--- a/src/modules/airspeed_selector/airspeed_selector_main.cpp
+++ b/src/modules/airspeed_selector/airspeed_selector_main.cpp
@ -505,7 +505,9 @@ void AirspeedModule::poll_topics()
				@@ -505,7 +505,9 @@ void AirspeedModule::poll_topics()


 	_vehicle_local_position_valid = (_time_now_usec - _vehicle_local_position.timestamp < 1_s)
-					&& (_vehicle_local_position.timestamp > 0) && _vehicle_local_position.v_xy_valid;
+					&& (_vehicle_local_position.timestamp > 0)
+					&& _vehicle_local_position.v_xy_valid
+					&& !_vehicle_local_position.dead_reckoning;
 }

 void AirspeedModule::update_wind_estimator_sideslip()