ekf2: use explicit flags instead of bitmask position

This prevents bitmask mismatch when a new flag is inserted

src/modules/ekf2/EKF/mag_fusion.cpp

@@ -174,12 +174,20 @@ void Ekf::fuseMag(const Vector3f &mag)
 	for (uint8_t index = 0; index <= 2; index++) {
 		_mag_test_ratio(index) = sq(_mag_innov(index)) / (sq(math::max(_params.mag_innov_gate, 1.0f)) * _mag_innov_var(index));
 
-		if (_mag_test_ratio(index) > 1.0f) {
+		const bool innov_check_fail = (_mag_test_ratio(index) > 1.0f);
+
+		if (innov_check_fail) {
 			all_innovation_checks_passed = false;
-			_innov_check_fail_status.value |= (1 << (index + 3));
+		}
+
+		if (index == 0) {
+			_innov_check_fail_status.flags.reject_mag_x = innov_check_fail;
+
+		} else if (index == 1) {
+			_innov_check_fail_status.flags.reject_mag_y = innov_check_fail;
 
 		} else {
-			_innov_check_fail_status.value &= ~(1 << (index + 3));
+			_innov_check_fail_status.flags.reject_mag_z = innov_check_fail;
 		}
 	}
 

src/modules/ekf2/EKF/optflow_fusion.cpp

@@ -236,25 +236,29 @@ void Ekf::fuseOptFlow()
 
 
 	// run the innovation consistency check and record result
-	bool flow_fail = false;
+	bool all_innovation_checks_passed = true;
 	float test_ratio[2];
 	test_ratio[0] = sq(_flow_innov(0)) / (sq(math::max(_params.flow_innov_gate, 1.0f)) * _flow_innov_var(0));
 	test_ratio[1] = sq(_flow_innov(1)) / (sq(math::max(_params.flow_innov_gate, 1.0f)) * _flow_innov_var(1));
 	_optflow_test_ratio = math::max(test_ratio[0], test_ratio[1]);
 
 	for (uint8_t obs_index = 0; obs_index <= 1; obs_index++) {
-		if (test_ratio[obs_index] > 1.0f) {
-			flow_fail = true;
-			_innov_check_fail_status.value |= (1 << (obs_index + 10));
+		const bool innov_check_fail = (test_ratio[obs_index] > 1.0f);
 
-		} else {
-			_innov_check_fail_status.value &= ~(1 << (obs_index + 10));
+		if (innov_check_fail) {
+			all_innovation_checks_passed = false;
+		}
 
+		if (obs_index == 0) {
+			_innov_check_fail_status.flags.reject_optflow_X = innov_check_fail;
+
+		} else {
+			_innov_check_fail_status.flags.reject_optflow_Y = innov_check_fail;
 		}
 	}
 
 	// if either axis fails we abort the fusion
-	if (flow_fail) {
+	if (!all_innovation_checks_passed) {
 		return;
 
 	}