From ed2938c8a40357f1711ee3fd7760289f5849ae5e Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Sat, 18 Mar 2017 11:29:25 +1100
Subject: [PATCH] EKF: fix bug causing bad accel bias status to latch

---
 EKF/covariance.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/covariance.cpp b/EKF/covariance.cpp
index 08452e09eb..f17ce2e681 100644
--- a/EKF/covariance.cpp
+++ b/EKF/covariance.cpp
@@ -737,7 +737,7 @@ void Ekf::fixCovarianceErrors()
 
 		// record the pass/fail
 		if (!bad_acc_bias) {
-			_fault_status.flags.bad_acc_bias = true;
+			_fault_status.flags.bad_acc_bias = false;
 			_time_acc_bias_check = _time_last_imu;
 		} else {
 			_fault_status.flags.bad_acc_bias = true;