From 855125381deff7143488e67d8242127ee5a75248 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 25 Jan 2017 17:27:53 +0900 Subject: [PATCH] AP_Compass: relax compass cal fitness and consistency checks --- libraries/AP_Compass/AP_Compass.cpp | 2 +- libraries/AP_Compass/AP_Compass.h | 16 +++++----------- 2 files changed, 6 insertions(+), 12 deletions(-) diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp index f21806fb36..1a2027ffc0 100644 --- a/libraries/AP_Compass/AP_Compass.cpp +++ b/libraries/AP_Compass/AP_Compass.cpp @@ -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), diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h index 6cebbea0ea..7e796b3a04 100644 --- a/libraries/AP_Compass/AP_Compass.h +++ b/libraries/AP_Compass/AP_Compass.h @@ -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