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AP_NavEKF: Report unhealthy for all filter faults

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Paul Riseborough 2015-04-17 19:28:34 +10:00 committed by Randy Mackay
parent 6c4c54c2ba
commit 3e061b174e
1 changed files with 3 additions and 7 deletions
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10
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -434,13 +434,9 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro, const RangeFinder &rng) :
// Check basic filter health metrics and return a consolidated health status
bool NavEKF::healthy(void) const
{
if (!statesInitialised) {
return false;
}
if (state.quat.is_nan()) {
return false;
}
if (state.velocity.is_nan()) {
uint8_t faultInt;
getFilterFaults(faultInt);
if (faultInt > 0) {
return false;
}
if (_fallback && velTestRatio > 1 && posTestRatio > 1 && hgtTestRatio > 1) {