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AP_Compass: relax compass cal fitness and consistency checks

This commit is contained in:
Randy Mackay 2017-01-25 17:27:53 +09:00
parent b5573f6665
commit 855125381d
2 changed files with 6 additions and 12 deletions
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2
libraries/AP_Compass/AP_Compass.cpp
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@ -398,7 +398,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @DisplayName: Compass calibration fitness
// @Description: This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.
// @Range: 4 32
// @Values: 4:Very Strict,8:Default,16:Relaxed,32:Very Relaxed
// @Values: 4:Very Strict,8:Strict,16:Default,32:Relaxed
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("CAL_FIT", 30, Compass, _calibration_threshold, AP_COMPASS_CALIBRATION_FITNESS_DEFAULT),

16
libraries/AP_Compass/AP_Compass.h
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@ -30,17 +30,11 @@
#endif
// define default compass calibration fitness and consistency checks
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4
# define AP_COMPASS_CALIBRATION_FITNESS_DEFAULT 16.0f
# define AP_COMPASS_MAX_XYZ_ANG_DIFF radians(75.0f)
# define AP_COMPASS_MAX_XY_ANG_DIFF radians(45.0f)
# define AP_COMPASS_MAX_XY_LENGTH_DIFF 150.0f
#else
# define AP_COMPASS_CALIBRATION_FITNESS_DEFAULT 8.0f
# define AP_COMPASS_MAX_XYZ_ANG_DIFF radians(50.0f)
# define AP_COMPASS_MAX_XY_ANG_DIFF radians(30.0f)
# define AP_COMPASS_MAX_XY_LENGTH_DIFF 100.0f
#endif
#define AP_COMPASS_CALIBRATION_FITNESS_DEFAULT 16.0f
#define AP_COMPASS_MAX_XYZ_ANG_DIFF radians(90.0f)
#define AP_COMPASS_MAX_XY_ANG_DIFF radians(60.0f)
#define AP_COMPASS_MAX_XY_LENGTH_DIFF 200.0f
/**
maximum number of compass instances available on this platform. If more
than 1 then redundant sensors may be available