ekf2: only set fault status bad_acc_clipping if clipping frequently

PX4 · Jan 27, 2022 · 49d9d1c · 49d9d1c
1 parent f499749
commit 49d9d1c
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Showing 2 changed files with 2 additions and 5 deletions.
diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp
@@ -812,6 +812,8 @@ void Ekf::checkVerticalAccelerationHealth()
 		_clip_counter--;
 	}
 
+	_fault_status.flags.bad_acc_clipping = _clip_counter > clip_count_limit / 2;
+
 	const bool is_clipping_frequently = _clip_counter > 0;
 
 	// if vertical velocity and position are independent and agree, then do not require evidence of clipping if

diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp
@@ -237,24 +237,19 @@ void Ekf::predictCovariance()
 	dvxVar = dvyVar = dvzVar = sq(dt * accel_noise);
 
 	// Accelerometer Clipping
-	_fault_status.flags.bad_acc_clipping = false; // reset flag
-
 	// delta velocity X: increase process noise if sample contained any X axis clipping
 	if (_imu_sample_delayed.delta_vel_clipping[0]) {
 		dvxVar = sq(dt * BADACC_BIAS_PNOISE);
-		_fault_status.flags.bad_acc_clipping = true;
 	}
 
 	// delta velocity Y: increase process noise if sample contained any Y axis clipping
 	if (_imu_sample_delayed.delta_vel_clipping[1]) {
 		dvyVar = sq(dt * BADACC_BIAS_PNOISE);
-		_fault_status.flags.bad_acc_clipping = true;
 	}
 
 	// delta velocity Z: increase process noise if sample contained any Z axis clipping
 	if (_imu_sample_delayed.delta_vel_clipping[2]) {
 		dvzVar = sq(dt * BADACC_BIAS_PNOISE);
-		_fault_status.flags.bad_acc_clipping = true;
 	}
 
 	// predict the covariance