diff --git a/EKF/airspeed_fusion.cpp b/EKF/airspeed_fusion.cpp index 2c071db32d..18455bd650 100644 --- a/EKF/airspeed_fusion.cpp +++ b/EKF/airspeed_fusion.cpp @@ -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