Copter: loosen accelerometer consistency check in z-axis

2016-07-27 18:22:39 -07:00 · 2016-07-27 18:22:39 -07:00 · 2c41459fe9
parent b1f204e2a6
commit 2c41459fe9
1 changed files with 4 additions and 0 deletions
--- a/ArduCopter/arming_checks.cpp
+++ b/ArduCopter/arming_checks.cpp
@ -216,6 +216,10 @@ bool Copter::pre_arm_checks(bool display_failure)
                     */
                    threshold *= 2;
                }
+
+                // EKF is less sensitive to Z-axis error
+                vec_diff.z *= 0.5f;
+
                if (vec_diff.length() > threshold) {
                    if (display_failure) {
                        gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent Accelerometers");