From d80e71a4991d1e0cfabcfde583f14e9a7274ba41 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 23 May 2016 16:49:44 +1000
Subject: [PATCH] EKF: capture HAGL innovation test failures

---
 EKF/terrain_estimator.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/EKF/terrain_estimator.cpp b/EKF/terrain_estimator.cpp
index cca1d2b45f..19bdb5ed4d 100644
--- a/EKF/terrain_estimator.cpp
+++ b/EKF/terrain_estimator.cpp
@@ -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;