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added bad_airspeed reporting (#123)

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Carl Olsson
2016-05-12 10:06:04 +02:00
committed by Lorenz Meier
parent b126921894
commit 5217b73df1
1 changed files with 2 additions and 0 deletions
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EKF/airspeed_fusion.cpp
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@@ -90,8 +90,10 @@ void Ekf::fuseAirspeed()
if (_airspeed_innov_var_temp >= R_TAS) { // Check for badly conditioned calculation
SK_TAS[0] = 1.0f / _airspeed_innov_var_temp;
_fault_status.flags.bad_airspeed = false;
} else { // Reset the estimator
_fault_status.flags.bad_airspeed = true;
initialiseCovariance();
return;
}