fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-13 22:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: capture airspeed innovation test failures

Browse Source
This commit is contained in:
Paul Riseborough
2016-06-01 17:13:00 +10:00
parent e7690bd8f8
commit cf489f4248
1 changed files with 2 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/airspeed_fusion.cpp
+2
View File
@@ -139,10 +139,12 @@ void Ekf::fuseAirspeed()
// If the innovation consistency check fails then don't fuse the sample and indicate bad airspeed health
if (_tas_test_ratio > 1.0f) {
_airspeed_healthy = false;
_sensor_fault_status.flags.reject_airspeed = true;
return;
}
else {
_airspeed_healthy = true;
_sensor_fault_status.flags.reject_airspeed = false;
}
// Airspeed measurement sample has passed check so record it