Introduce similar checks fo all other health checks in the filter

1 files changed, 19 insertions, 2 deletions

diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index c619735c6..c7c7305b2 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -1032,10 +1032,16 @@ void AttPosEKF::FuseVelposNED()
             // apply a 5-sigma threshold
             current_ekf_state.velHealth = (sq(velInnov[0]) + sq(velInnov[1]) + sq(velInnov[2])) < 25.0f * (varInnovVelPos[0] + varInnovVelPos[1] + varInnovVelPos[2]);
             current_ekf_state.velTimeout = (millis() - current_ekf_state.velFailTime) > horizRetryTime;
-            if (current_ekf_state.velHealth || current_ekf_state.velTimeout)
-            {
+            if (current_ekf_state.velHealth || staticMode) {
                 current_ekf_state.velHealth = true;
                 current_ekf_state.velFailTime = millis();
+            } else if (current_ekf_state.velTimeout || !current_ekf_state.posHealth) {
+                // XXX check
+                current_ekf_state.velHealth = true;
+                ResetVelocity();
+                ResetStoredStates();
+                // do not fuse bad data
+                fuseVelData = false;
             }
             else
             {
@@ -1056,6 +1062,17 @@ void AttPosEKF::FuseVelposNED()
             {
                 current_ekf_state.posHealth = true;
                 current_ekf_state.posFailTime = millis();
+
+                if (current_ekf_state.posTimeout) {
+                    ResetPosition();
+                    
+                    // XXX cross-check the state reset
+                    ResetStoredStates();
+
+                    // do not fuse position data on this time
+                    // step
+                    fusePosData = false;
+                }
             }
             else
             {