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Copter: pre-arm alt disparity check only if using baro

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We should probably consolidate the baro pre-arm and arming checks into a
single check_baro function but the difference in the error message stops
me from immediately doing that
This commit is contained in:
Randy Mackay 2015-04-10 09:52:48 +09:00
parent 1d7cb25c17
commit 6834b5943e
1 changed files with 16 additions and 10 deletions
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26
ArduCopter/motors.pde
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@ -240,12 +240,18 @@ static bool pre_arm_checks(bool display_failure)
}
return false;
}
// check Baro & inav alt are within limits
if(fabs(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Altitude disparity"));
// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
// that may differ from the baro height due to baro drift.
nav_filter_status filt_status = inertial_nav.get_filter_status();
bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
if (using_baro_ref) {
if (fabs(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Altitude disparity"));
}
return false;
}
return false;
}
}
@ -590,17 +596,17 @@ static bool arm_checks(bool display_failure, bool arming_from_gcs)
return true;
}
// Check Baro & inav alt are within 1m if EKF is operating in an absolute position mode.
// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
// that may differ from the baro height due to baro drift.
nav_filter_status filt_status = inertial_nav.get_filter_status();
bool usingBaroRef = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
if (((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) && usingBaroRef) {
if(fabs(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
if (((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) && using_baro_ref) {
if (fabs(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Altitude disparity"));
}
return false;
return false;
}
}