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AP_Airspeed: Add hysteresis to consistency check

This commit is contained in:
Paul Riseborough 2022-07-04 19:03:29 +10:00 committed by Randy Mackay
parent 705c6e1a83
commit b3f289d3d1
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_Airspeed/AP_Airspeed_Health.cpp
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@ -56,7 +56,12 @@ void AP_Airspeed::check_sensor_ahrs_wind_max_failures(uint8_t i)
}
bool data_is_inconsistent;
if ((AP_Airspeed::OptionsMask::USE_EKF_CONSISTENCY & _options) != 0) {
data_is_inconsistent = state[i].failures.test_ratio > MAX(_wind_gate, 0.0f);
float gate_size = MAX(_wind_gate, 0.0f);
if (param[i].use == 0) {
// require a smaller inconsistency for a disabled sensor to be declared consistent
gate_size *= 0.7f;
}
data_is_inconsistent = state[i].failures.test_ratio > gate_size;
} else {
data_is_inconsistent = false;
}