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AP_InertialSensor: fixed error detection on secondary IMUs

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the break; was preventing error detection on lsm303d/l3gd20
This commit is contained in:
Andrew Tridgell 2015-01-01 08:55:34 +11:00
parent 765fa0e223
commit 06a72839ed
1 changed files with 9 additions and 5 deletions
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14
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -980,22 +980,26 @@ void AP_InertialSensor::update(void)
have_zero_gyro_error_count = true;
}
}
// set primary to first healthy accel and gyro
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
if (_gyro_healthy[i] && _gyro_error_count[i] != 0 && have_zero_gyro_error_count) {
// we prefer not to use a gyro that has had errors
_gyro_healthy[i] = false;
}
if (_accel_healthy[i] && _accel_error_count[i] != 0 && have_zero_accel_error_count) {
// we prefer not to use a accel that has had errors
_accel_healthy[i] = false;
}
}
// set primary to first healthy accel and gyro
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
if (_gyro_healthy[i]) {
_primary_gyro = i;
break;
}
}
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
if (_accel_healthy[i] && _accel_error_count[i] != 0 && have_zero_accel_error_count) {
// we prefer not to use a accel that has had errors
_accel_healthy[i] = false;
}
if (_accel_healthy[i]) {
_primary_accel = i;
break;