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Copter: define limit for baro vs inav alt disparity

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This commit is contained in:
Randy Mackay 2014-09-18 17:24:40 +09:00
parent be2f308802
commit b8c74b7363
2 changed files with 6 additions and 1 deletions
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5
ArduCopter/config.h
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@ -299,6 +299,11 @@
#define FS_GCS_ENABLED_ALWAYS_RTL 1 #define FS_GCS_ENABLED_ALWAYS_RTL 1
#define FS_GCS_ENABLED_CONTINUE_MISSION 2 #define FS_GCS_ENABLED_CONTINUE_MISSION 2
// pre-arm baro vs inertial nav max alt disparity
#ifndef PREARM_MAX_ALT_DISPARITY_CMS
# define PREARM_MAX_ALT_DISPARITY_CMS 100 // barometer and inertial nav altitude must be within this many centimeters
#endif
// pre-arm check max velocity // pre-arm check max velocity
#ifndef PREARM_MAX_VELOCITY_CMS #ifndef PREARM_MAX_VELOCITY_CMS
# define PREARM_MAX_VELOCITY_CMS 50.0f // vehicle must be travelling under 50cm/s before arming # define PREARM_MAX_VELOCITY_CMS 50.0f // vehicle must be travelling under 50cm/s before arming

2
ArduCopter/motors.pde
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@ -536,7 +536,7 @@ static bool arm_checks(bool display_failure)
// check Baro & inav alt are within 1m // check Baro & inav alt are within 1m
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) { if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
if(fabs(inertial_nav.get_altitude() - baro_alt) > 100) { if(fabs(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CMS) {
if (display_failure) { if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Alt disparity")); gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Alt disparity"));
} }