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EKF: Don't reject vertical aiding data if inertial solution is bad

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Also reduce clipping count threshold
This commit is contained in:
Paul Riseborough
2021-02-09 19:55:32 +11:00
committed by Paul Riseborough
parent c566318db5
commit e948b3505f
2 changed files with 27 additions and 5 deletions
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EKF/control.cpp
+1 -1
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@@ -927,7 +927,7 @@ void Ekf::checkVerticalAccelerationHealth()
// if vertical velocity and position are independent and agree, then do not require evidence of clipping if
// innovations are large
const bool bad_vert_accel = (are_vertical_pos_and_vel_independant || _clip_counter > clip_count_limit / 2) &&
const bool bad_vert_accel = (are_vertical_pos_and_vel_independant || _clip_counter > 0) &&
is_inertial_nav_falling;
if (bad_vert_accel) {