From a2f83269e9770ed84e84a3b92cd52343dd08fb02 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 12 Jul 2022 09:53:31 -0400 Subject: [PATCH] airspeed_selector: don't consider vehicle_local_position valid if dead_reckoning --- src/modules/airspeed_selector/airspeed_selector_main.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/airspeed_selector/airspeed_selector_main.cpp b/src/modules/airspeed_selector/airspeed_selector_main.cpp index 8d816f79a7..1e05a232c7 100644 --- 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() _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()