From ccaa4d6aa9aa70f41fe93e613073553e74fcef51 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <gncsolns@gmail.com>
Date: Sat, 25 Apr 2020 07:52:45 +1000
Subject: [PATCH] AP_NavEKF2: Fix one frame delay in processing yaw estimator
 velocity data

---
 libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index 4412a2f4a8..8aae61fd4f 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -565,7 +565,7 @@ void NavEKF2_core::runYawEstimatorCorrection()
         if (gpsDataToFuse) {
             Vector2f gpsVelNE = Vector2f(gpsDataDelayed.vel.x, gpsDataDelayed.vel.y);
             float gpsVelAcc = fmaxf(gpsSpdAccuracy, frontend->_gpsHorizVelNoise);
-            yawEstimator->pushVelData(gpsVelNE, gpsVelAcc);
+            yawEstimator->fuseVelData(gpsVelNE, gpsVelAcc);
         }
 
         // action an external reset request