fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 19:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: add fault status bit for bad vertical accel data

Browse Source
This commit is contained in:
Daniel Agar
2020-10-26 17:37:15 +01:00
committed by Mathieu Bresciani
parent d936b85d71
commit 6e99ebd928
5 changed files with 8 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/control.cpp
+3 -3
View File
@@ -898,11 +898,11 @@ void Ekf::checkVerticalAccelerationHealth()
// declare a bad vertical acceleration measurement and make the declaration persist
// for a minimum of BADACC_PROBATION seconds
if (_bad_vert_accel_detected) {
_bad_vert_accel_detected = isRecent(_time_bad_vert_accel, BADACC_PROBATION);
if (_fault_status.flags.bad_acc_vertical) {
_fault_status.flags.bad_acc_vertical = isRecent(_time_bad_vert_accel, BADACC_PROBATION);
} else {
_bad_vert_accel_detected = bad_vert_accel;
_fault_status.flags.bad_acc_vertical = bad_vert_accel;
}
}