ekf2: only set fault status bad_acc_clipping if clipping frequently

2026-10-22 00:53:33 +08:00 · 2022-01-27 09:59:50 -05:00
parent f499749c23
commit 49d9d1c987
2 changed files with 2 additions and 5 deletions
@@ -812,6 +812,8 @@ void Ekf::checkVerticalAccelerationHealth()
 		_clip_counter--;
 	}

+	_fault_status.flags.bad_acc_clipping = _clip_counter > clip_count_limit / 2;
+
 	const bool is_clipping_frequently = _clip_counter > 0;

 	// if vertical velocity and position are independent and agree, then do not require evidence of clipping if