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EKF: Add external monitoring of warning and information events

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This commit is contained in:
Paul Riseborough
2021-03-05 19:06:59 -05:00
committed by Daniel Agar
parent 90a445ddbc
commit 140ca3f48f
6 changed files with 75 additions and 1 deletions
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EKF/covariance.cpp
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@@ -971,6 +971,7 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
_time_acc_bias_check = _time_last_imu;
_fault_status.flags.bad_acc_bias = false;
_warning_events.flags.invalid_accel_bias_cov_reset = true;
ECL_WARN_TIMESTAMPED("invalid accel bias - covariance reset");
} else if (force_symmetry) {