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EKF: capture airspeed innovation test failures

This commit is contained in:
Paul Riseborough 2016-05-23 16:33:16 +10:00
parent e7690bd8f8
commit cf489f4248
1 changed files with 2 additions and 0 deletions
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2
EKF/airspeed_fusion.cpp
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@ -139,10 +139,12 @@ void Ekf::fuseAirspeed()
// If the innovation consistency check fails then don't fuse the sample and indicate bad airspeed health
if (_tas_test_ratio > 1.0f) {
_airspeed_healthy = false;
_sensor_fault_status.flags.reject_airspeed = true;
return;
}
else {
_airspeed_healthy = true;
_sensor_fault_status.flags.reject_airspeed = false;
}
// Airspeed measurement sample has passed check so record it