From cf489f424875abb999d710b4386042f1e3c99b72 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 23 May 2016 16:33:16 +1000
Subject: [PATCH] EKF: capture airspeed innovation test failures

---
 EKF/airspeed_fusion.cpp | 2 ++
 1 file changed, 2 insertions(+)

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