From 3fb449295e007676b86d48da865ba51e3507de74 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 23 May 2016 14:23:08 +1000
Subject: [PATCH] EKF: capture yaw innovation test failures

---
 EKF/mag_fusion.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/EKF/mag_fusion.cpp b/EKF/mag_fusion.cpp
index 4356b7a159..966db4172c 100644
--- a/EKF/mag_fusion.cpp
+++ b/EKF/mag_fusion.cpp
@@ -604,6 +604,7 @@ void Ekf::fuseHeading()
 	// set the magnetometer unhealthy if the test fails
 	if (_yaw_test_ratio > 1.0f) {
 		_mag_healthy = false;
+		_sensor_fault_status.flags.reject_yaw = true;
 
 		// if we are in air we don't want to fuse the measurement
 		// we allow to use it when on the ground because the large innovation could be caused
@@ -619,6 +620,7 @@ void Ekf::fuseHeading()
 
 	} else {
 		_mag_healthy = true;
+		_sensor_fault_status.flags.reject_yaw = false;
 	}
 
 	// apply covariance correction via P_new = (I -K*H)*P