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AP_NavEKF3: ignore VelZ of body odometry if SRCn_VELZ is set to None #28548

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AP_NavEKF3: ignore VelZ of body odometry if SRCn_VELZ is set to None #28548

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5 changes: 4 additions & 1 deletion libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2031,7 +2031,10 @@ void NavEKF3_core::SelectBodyOdomFusion()
// Check for body odometry data (aka visual position delta) at the fusion time horizon
const bool bodyOdomDataToFuse = storedBodyOdm.recall(bodyOdmDataDelayed, imuDataDelayed.time_ms);
if (bodyOdomDataToFuse && frontend->sources.useVelXYSource(AP_NavEKF_Source::SourceXY::EXTNAV)) {

// If VelZ source is set to none, don't use the odometry data for Z velocity
if (!frontend->sources.haveVelZSource()) {
bodyOdmDataDelayed.vel.z = stateStruct.velocity.z;
}
// Fuse data into the main filter
FuseBodyVel();
}
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