From eded0a8f7e055dbda4afa6b1b0927f08c33579cc Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Tue, 7 Jun 2016 13:49:17 +0200 Subject: [PATCH] activate tas fusion, off by default --- EKF/ekf.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp index b4f09b02fb..f4c7e3dc49 100644 --- a/EKF/ekf.cpp +++ b/EKF/ekf.cpp @@ -365,9 +365,8 @@ bool Ekf::update() _fuse_flow = false; } - // TODO This is just to get the logic inside but we will only start fusion once we tested this again - //if (_airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_airspeed_sample_delayed)) { - if (false) { + // If we are using airspeed measurements and data has fallen behind the fusion time horizon then fuse it + if (_airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_airspeed_sample_delayed)) { fuseAirspeed(); } }