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AP_InertialSensor: increase acceptable Z accel offset to be 3.0 G

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Note: Z offsets do tend to be larger than x and y offsets
This commit is contained in:
rmackay9 2012-11-23 00:34:42 +09:00
parent 6372e8591e
commit 21d72bb49b
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -377,7 +377,7 @@ bool AP_InertialSensor::_calibrate_accel( Vector3f accel_sample[6], Vector3f& ac
success = false;
}
// sanity check offsets (2.0 is roughly 2/10th of a G, 5.0 is roughly half a G)
if( accel_offsets.is_nan() || fabs(accel_offsets.x) > 2.0 || fabs(accel_offsets.y) > 2.0 || fabs(accel_offsets.z) > 2.0 ) {
if( accel_offsets.is_nan() || fabs(accel_offsets.x) > 2.0 || fabs(accel_offsets.y) > 2.0 || fabs(accel_offsets.z) > 3.0 ) {
success = false;
}