From 5217b73df16f0d9eac26c716423ce613a248934b Mon Sep 17 00:00:00 2001
From: Carl Olsson <carlolsson.co@gmail.com>
Date: Thu, 12 May 2016 10:06:04 +0200
Subject: [PATCH] added bad_airspeed reporting (#123)

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

diff --git a/EKF/airspeed_fusion.cpp b/EKF/airspeed_fusion.cpp
index cc848dc618..2c071db32d 100644
--- a/EKF/airspeed_fusion.cpp
+++ b/EKF/airspeed_fusion.cpp
@@ -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;
 		}