From e7690bd8f87989d8684c235f6f64f6d8bdd104b6 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 23 May 2016 16:25:26 +1000
Subject: [PATCH] EKF: capture magnetometer innovation test failures

---
 EKF/mag_fusion.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/EKF/mag_fusion.cpp b/EKF/mag_fusion.cpp
index 966db4172c..9c41a1eb35 100644
--- a/EKF/mag_fusion.cpp
+++ b/EKF/mag_fusion.cpp
@@ -183,6 +183,9 @@ void Ekf::fuseMag()
 
 		if (_mag_test_ratio[index] > 1.0f) {
 			_mag_healthy = false;
+			_sensor_fault_status.value |= (1 << (index + 3));
+		} else {
+			_sensor_fault_status.value &= !(1 << (index + 3));
 		}
 	}