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