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EKF: capture HAGL innovation test failures

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This commit is contained in:
Paul Riseborough
2016-05-23 16:49:44 +10:00
parent 8125717bf5
commit d80e71a499
1 changed files with 6 additions and 2 deletions
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EKF/terrain_estimator.cpp
+6 -2
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@@ -115,10 +115,14 @@ void Ekf::fuseHagl()
_terrain_vpos -= gain * _hagl_innov;
// correct the variance
_terrain_var = fmaxf(_terrain_var * (1.0f - gain), 0.0f);
// record last successful fusion time
// record last successful fusion event
_time_last_hagl_fuse = _time_last_imu;
}
_sensor_fault_status.flags.reject_hagl = false;
} else {
_sensor_fault_status.flags.reject_hagl = true;
}
} else {
return;