From 7d48054e6fb01da033c47186354b74b646598b17 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Thu, 24 Nov 2016 08:55:55 +1100
Subject: [PATCH] AP_NavEKF2: Group GPS innovation tests when compiling error
 score

---
 libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
index fc7b85e31a..f907ed9143 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
@@ -45,9 +45,11 @@ float NavEKF2_core::errorScore() const
 {
     float score = 0.0f;
     if (tiltAlignComplete && yawAlignComplete) {
-        score = MAX(score, velTestRatio);
-        score = MAX(score, posTestRatio);
+        // Check GPS fusion performance
+        score = MAX(score, 0.5f * (velTestRatio + posTestRatio));
+        // Check altimeter fusion performance
         score = MAX(score, hgtTestRatio);
+        // Check attitude corrections
         const float tiltErrThreshold = 0.05f;
         score = MAX(score, tiltErrFilt / tiltErrThreshold);
     }