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ekf: robustify bad_acc_vertical check

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when the vertical pos or vel innov ratio is above the threshold, the
other one needs to be significant too and not just positive to trigger
the failure
This commit is contained in:
bresch
2022-04-25 12:58:18 -04:00
committed by Daniel Agar
parent 980f696023
commit db0274e19b
2 changed files with 4 additions and 3 deletions
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src/modules/ekf2/EKF/control.cpp
+2 -2
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@@ -785,8 +785,8 @@ void Ekf::checkVerticalAccelerationHealth()
const bool using_gps_for_both = _control_status.flags.gps_hgt && _control_status.flags.gps;
const bool using_ev_for_both = _control_status.flags.ev_hgt && _control_status.flags.ev_vel;
are_vertical_pos_and_vel_independant = !(using_gps_for_both || using_ev_for_both);
is_inertial_nav_falling |= _vert_vel_innov_ratio > _params.vert_innov_test_lim && _vert_pos_innov_ratio > 0.0f;
is_inertial_nav_falling |= _vert_pos_innov_ratio > _params.vert_innov_test_lim && _vert_vel_innov_ratio > 0.0f;
is_inertial_nav_falling |= _vert_vel_innov_ratio > _params.vert_innov_test_lim && _vert_pos_innov_ratio > _params.vert_innov_test_min;
is_inertial_nav_falling |= _vert_pos_innov_ratio > _params.vert_innov_test_lim && _vert_vel_innov_ratio > _params.vert_innov_test_min;
} else {
// only height sensing available