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EKF: capture innovation checks and reset events in separate variables

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rename the innovation check status class variable and remove the reset flags from it.
This commit is contained in:
Paul Riseborough
2016-06-01 17:13:00 +10:00
parent 79705da7e6
commit 65da9173b9
8 changed files with 22 additions and 26 deletions
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EKF/airspeed_fusion.cpp
+2 -2
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@@ -138,11 +138,11 @@ void Ekf::fuseAirspeed()
// If the innovation consistency check fails then don't fuse the sample and indicate bad airspeed health
if (_tas_test_ratio > 1.0f) {
_sensor_fault_status.flags.reject_airspeed = true;
_innov_check_fail_status.flags.reject_airspeed = true;
return;
}
else {
_sensor_fault_status.flags.reject_airspeed = false;
_innov_check_fail_status.flags.reject_airspeed = false;
}
// Airspeed measurement sample has passed check so record it