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EKF: capture position and velocity innovation test failures

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This commit is contained in:
Paul Riseborough
2016-06-01 17:13:00 +10:00
parent aea827aa8a
commit 52f6eea52b
1 changed files with 12 additions and 3 deletions
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EKF/vel_pos_fusion.cpp
+12 -3
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@@ -201,19 +201,28 @@ void Ekf::fuseVelPosHeight()
innov_check_pass_map[4] = innov_check_pass_map[3] = pos_check_pass;
innov_check_pass_map[5] = (_vel_pos_test_ratio[5] <= 1.0f) || !_control_status.flags.tilt_align;
// record the successful velocity fusion time
// record the successful velocity fusion event
if (vel_check_pass && _fuse_hor_vel) {
_time_last_vel_fuse = _time_last_imu;
_sensor_fault_status.flags.reject_vel_NED = false;
} else if (!vel_check_pass) {
_sensor_fault_status.flags.reject_vel_NED = true;
}
// record the successful position fusion time
// record the successful position fusion event
if (pos_check_pass && _fuse_pos) {
_time_last_pos_fuse = _time_last_imu;
_sensor_fault_status.flags.reject_pos_NE = false;
} else if (!pos_check_pass) {
_sensor_fault_status.flags.reject_pos_NE = true;
}
// record the successful height fusion time
// record the successful height fusion event
if (innov_check_pass_map[5] && _fuse_height) {
_time_last_hgt_fuse = _time_last_imu;
_sensor_fault_status.flags.reject_pos_D = false;
} else if (!innov_check_pass_map[5]) {
_sensor_fault_status.flags.reject_pos_D = true;
}
for (unsigned obs_index = 0; obs_index < 6; obs_index++) {