ekf2: EV vel (body) update last fuse timestamps

- these are set by the NED fuseVelocity() helper so also need to be set in the body frame velocity case
PX4 · Jul 9, 2024 · 62ff39a · 62ff39a
1 parent 5d08b97
commit 62ff39a
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel_control.cpp
@@ -292,6 +292,11 @@ bool Ekf::fuseEvVelocity(estimator_aid_source3d_s &aid_src, const extVisionSampl
 
 		}
 
+		if (aid_src.fused) {
+			_time_last_hor_vel_fuse = _time_delayed_us;
+			_time_last_ver_vel_fuse = _time_delayed_us;
+		}
+
 		aid_src.timestamp_sample = current_aid_src.timestamp_sample;
 		return !aid_src.innovation_rejected;