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EKF: capture magnetometer innovation test failures

This commit is contained in:
Paul Riseborough 2016-05-23 16:25:26 +10:00
parent 3fb449295e
commit e7690bd8f8
1 changed files with 3 additions and 0 deletions
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3
EKF/mag_fusion.cpp
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@ -183,6 +183,9 @@ void Ekf::fuseMag()
if (_mag_test_ratio[index] > 1.0f) { if (_mag_test_ratio[index] > 1.0f) {
_mag_healthy = false; _mag_healthy = false;
_sensor_fault_status.value |= (1 << (index + 3));
} else {
_sensor_fault_status.value &= !(1 << (index + 3));
} }
} }