From b51abf4aff4aeb713173f46d43ab47ad1cd0dad2 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Tue, 28 Feb 2017 11:41:34 +1100
Subject: [PATCH] EKF: Add console notification for accel bias covariance reset

---
 EKF/covariance.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/EKF/covariance.cpp b/EKF/covariance.cpp
index c0084ddbd4..3191fb63df 100644
--- a/EKF/covariance.cpp
+++ b/EKF/covariance.cpp
@@ -40,6 +40,7 @@
  *
  */
 
+#include "../ecl.h"
 #include "ekf.h"
 #include <math.h>
 #include "mathlib.h"
@@ -730,6 +731,8 @@ void Ekf::fixCovarianceErrors()
 			P[13][13] = varX;
 			P[14][14] = varY;
 			P[15][15] = varZ;
+			_time_acc_bias_check = _time_last_imu;
+			ECL_WARN("EKF invalid accel bias - resetting covariance");
 		}
 
 	}