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EKF: add fault status bit for bad vertical accel data

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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
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EKF/covariance.cpp
+2 -2
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@@ -160,7 +160,7 @@ void Ekf::predictCovariance()
const bool do_inhibit_all_axes = (_params.fusion_mode & MASK_INHIBIT_ACC_BIAS)
|| is_manoeuvre_level_high
|| _bad_vert_accel_detected;
|| _fault_status.flags.bad_acc_vertical;
for (unsigned stateIndex = 13; stateIndex <= 15; stateIndex++) {
const unsigned index = stateIndex - 13;
@@ -245,7 +245,7 @@ void Ekf::predictCovariance()
float accel_noise = math::constrain(_params.accel_noise, 0.0f, 1.0f);
if (_bad_vert_accel_detected) {
if (_fault_status.flags.bad_acc_vertical) {
// Increase accelerometer process noise if bad accel data is detected. Measurement errors due to
// vibration induced clipping commonly reach an equivalent 0.5g offset.
accel_noise = BADACC_BIAS_PNOISE;