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AP_InertialSensor: allow for 1,1,1 accel scaling 

this supports simple accel calibration
This commit is contained in:
Andrew Tridgell 2017-06-05 21:57:47 +10:00
parent f513c1c8dd
commit 6a6f9681ab
1 changed files with 0 additions and 5 deletions
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libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -981,11 +981,6 @@ bool AP_InertialSensor::accel_calibrated_ok_all() const
if (_accel_offset[i].get().is_zero()) { if (_accel_offset[i].get().is_zero()) {
return false; return false;
} }
// exactly 1.0 scaling is extremely unlikely
const Vector3f &scaling = _accel_scale[i].get();
if (is_equal(scaling.x,1.0f) && is_equal(scaling.y,1.0f) && is_equal(scaling.z,1.0f)) {
return false;
}
// zero scaling also indicates not calibrated // zero scaling also indicates not calibrated
if (_accel_scale[i].get().is_zero()) { if (_accel_scale[i].get().is_zero()) {
return false; return false;