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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/terrain_estimator.cpp
+2 -2
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@@ -117,10 +117,10 @@ void Ekf::fuseHagl()
_terrain_var = fmaxf(_terrain_var * (1.0f - gain), 0.0f);
// record last successful fusion event
_time_last_hagl_fuse = _time_last_imu;
_sensor_fault_status.flags.reject_hagl = false;
_innov_check_fail_status.flags.reject_hagl = false;
} else {
_sensor_fault_status.flags.reject_hagl = true;
_innov_check_fail_status.flags.reject_hagl = true;
}