EKF: capture position and velocity innovation test failures

EKF/vel_pos_fusion.cpp

@@ -201,19 +201,28 @@ void Ekf::fuseVelPosHeight()
 	innov_check_pass_map[4] = innov_check_pass_map[3] = pos_check_pass;
 	innov_check_pass_map[5] = (_vel_pos_test_ratio[5] <= 1.0f) || !_control_status.flags.tilt_align;
 
-	// record the successful velocity fusion time
+	// record the successful velocity fusion event
 	if (vel_check_pass && _fuse_hor_vel) {
 		_time_last_vel_fuse = _time_last_imu;
+		_sensor_fault_status.flags.reject_vel_NED = false;
+	} else if (!vel_check_pass) {
+		_sensor_fault_status.flags.reject_vel_NED = true;
 	}
 
-	// record the successful position fusion time
+	// record the successful position fusion event
 	if (pos_check_pass && _fuse_pos) {
 		_time_last_pos_fuse = _time_last_imu;
+		_sensor_fault_status.flags.reject_pos_NE = false;
+	} else if (!pos_check_pass) {
+		_sensor_fault_status.flags.reject_pos_NE = true;
 	}
 
-	// record the successful height fusion time
+	// record the successful height fusion event
 	if (innov_check_pass_map[5] && _fuse_height) {
 		_time_last_hgt_fuse = _time_last_imu;
+		_sensor_fault_status.flags.reject_pos_D = false;
+	} else if (!innov_check_pass_map[5]) {
+		_sensor_fault_status.flags.reject_pos_D = true;
 	}
 
 	for (unsigned obs_index = 0; obs_index < 6; obs_index++) {