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EKF: capture airspeed innovation test failures

master
Paul Riseborough 9 years ago
parent
commit
cf489f4248
  1. 2
      EKF/airspeed_fusion.cpp

2
EKF/airspeed_fusion.cpp

@ -139,10 +139,12 @@ void Ekf::fuseAirspeed() @@ -139,10 +139,12 @@ void Ekf::fuseAirspeed()
// If the innovation consistency check fails then don't fuse the sample and indicate bad airspeed health
if (_tas_test_ratio > 1.0f) {
_airspeed_healthy = false;
_sensor_fault_status.flags.reject_airspeed = true;
return;
}
else {
_airspeed_healthy = true;
_sensor_fault_status.flags.reject_airspeed = false;
}
// Airspeed measurement sample has passed check so record it

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