EKF: add structure to capture innovation test failures and state resets

2026-10-20 12:23:34 +08:00 · 2016-06-01 17:13:00 +10:00
parent 654093cae1
commit 106482b078
3 changed files with 27 additions and 0 deletions
@@ -180,6 +180,8 @@ bool Ekf::init(uint64_t timestamp)

 	_dt_ekf_avg = 0.001f * (float)(FILTER_UPDATE_PERIOD_MS);

+	_sensor_fault_status.value = 0;
+
 	return ret;
 }