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ekf2: move estimator_status test ratios to filtered values

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This commit is contained in:
Daniel Agar
2024-06-20 13:41:54 -04:00
parent e4fc3022f2
commit dcb1103299
9 changed files with 142 additions and 84 deletions
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src/modules/mavlink/streams/HIGH_LATENCY2.hpp
+1 -2
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@@ -309,8 +309,7 @@ private:
if (_estimator_status_sub.update(&estimator_status)) {
if (estimator_status.gps_check_fail_flags > 0 ||
estimator_status.filter_fault_flags > 0 ||
estimator_status.innovation_check_flags > 0) {
estimator_status.filter_fault_flags > 0) {
msg->failure_flags |= HL_FAILURE_FLAG_ESTIMATOR;
}