AP_NavEKF2: Fix in-air logic bug

9 years ago · 242b9641c8
1 changed files with 0 additions and 5 deletions
--- a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
@ -312,11 +312,6 @@ void NavEKF2_core::detectFlight()
				@@ -312,11 +312,6 @@ void NavEKF2_core::detectFlight()
            onGround = false;
        }

-        // Determine if is is possible we are on the ground
-        if (highGndSpd || highAirSpd || largeHgtChange) {
-            inFlight = false;
-        }
-
        // Determine to a high certainty we are not flying
        // after 5 seconds of not detecting a possible flight condition or we are disarmed, we transition to on-ground mode
        if(!motorsArmed || ((imuSampleTime_ms - airborneDetectTime_ms) > 5000)) {