Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Arming: raise accel arming threshold to 0.75

Browse Source 
arming issues due to accel inconsistency are too common
This commit is contained in:
Andrew Tridgell 2015-07-17 09:50:19 +10:00
parent 18de1c2c47
commit 69cfe11455
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Arming/AP_Arming.cpp
View File

@ -169,9 +169,9 @@ bool AP_Arming::ins_checks(bool report)
// get next accel vector // get next accel vector
const Vector3f &accel_vec = ins.get_accel(i); const Vector3f &accel_vec = ins.get_accel(i);
Vector3f vec_diff = accel_vec - prime_accel_vec; Vector3f vec_diff = accel_vec - prime_accel_vec;
// allow for up to 0.5 m/s/s difference. Has to pass // allow for up to 0.75 m/s/s difference. Has to pass
// in last 10 seconds // in last 10 seconds
float threshold = 0.5f; float threshold = 0.75f;
if (i >= 2) { if (i >= 2) {
/* /*
we allow for a higher threshold for IMU3 as it we allow for a higher threshold for IMU3 as it