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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/ekf_helper.cpp
+1 -1
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@@ -1092,7 +1092,7 @@ void Ekf::get_ekf_soln_status(uint16_t *status)
const bool gps_pos_innov_bad = (_gps_pos_test_ratio(0) > 1.0f);
const bool mag_innov_good = (_mag_test_ratio.max() < 1.0f) && (_yaw_test_ratio < 1.0f);
soln_status.flags.gps_glitch = (gps_vel_innov_bad || gps_pos_innov_bad) && mag_innov_good;
soln_status.flags.accel_error = _bad_vert_accel_detected;
soln_status.flags.accel_error = _fault_status.flags.bad_acc_vertical;
*status = soln_status.value;
}