From 2a57fd858d2c5b7083806a26031d4988b828866a Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Tue, 21 Nov 2017 09:52:34 +1100
Subject: [PATCH] EKF: clean up reset of fusion flags

---
 EKF/control.cpp        | 2 --
 EKF/vel_pos_fusion.cpp | 3 +++
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/EKF/control.cpp b/EKF/control.cpp
index ec70953bb4..f8cfa69344 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -1358,7 +1358,6 @@ void Ekf::controlVelPosFusion()
 	// Fuse available NED velocity and position data into the main filter
 	if (_fuse_height || _fuse_pos || _fuse_hor_vel || _fuse_vert_vel) {
 		fuseVelPosHeight();
-		_fuse_hor_vel = _fuse_vert_vel = _fuse_pos = _fuse_height = false;
 
 	}
 }
@@ -1376,6 +1375,5 @@ void Ekf::controlAuxVelFusion()
 		_velObsVarNE = _auxvel_sample_delayed.velVarNE;
 		_hvelInnovGate = _params.auxvel_gate;
 		fuseVelPosHeight();
-		_fuse_hor_vel = _fuse_vert_vel = _fuse_pos = _fuse_height = false;
 	}
 }
diff --git a/EKF/vel_pos_fusion.cpp b/EKF/vel_pos_fusion.cpp
index c1b2ccff94..83c13a2a2a 100644
--- a/EKF/vel_pos_fusion.cpp
+++ b/EKF/vel_pos_fusion.cpp
@@ -176,6 +176,7 @@ void Ekf::fuseVelPosHeight()
 	} else if (!vel_check_pass) {
 		_innov_check_fail_status.flags.reject_vel_NED = true;
 	}
+	_fuse_hor_vel = false;
 
 	// record the successful position fusion event
 	if (pos_check_pass && _fuse_pos) {
@@ -188,6 +189,7 @@ void Ekf::fuseVelPosHeight()
 	} else if (!pos_check_pass) {
 		_innov_check_fail_status.flags.reject_pos_NE = true;
 	}
+	_fuse_pos = false;
 
 	// record the successful height fusion event
 	if (innov_check_pass_map[5] && _fuse_height) {
@@ -196,6 +198,7 @@ void Ekf::fuseVelPosHeight()
 	} else if (!innov_check_pass_map[5]) {
 		_innov_check_fail_status.flags.reject_pos_D = true;
 	}
+	_fuse_height = false;
 
 	for (unsigned obs_index = 0; obs_index < 6; obs_index++) {
 		// skip fusion if not requested or checks have failed