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INS: set the acceptable calibration error equal on all axes

This commit is contained in:
Andrew Tridgell 2012-11-20 19:28:49 +11:00
parent b9fb683236
commit bbb2bbc721
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -392,11 +392,11 @@ bool AP_InertialSensor::_calibrate_accel( Vector3f accel_sample[6], Vector3f& ac
accel_offsets.z = beta[2] * accel_scale.z;
// sanity check scale
if( accel_scale.is_nan() || fabs(accel_scale.x-1.0) > 0.1 || fabs(accel_scale.y-1.0) > 1.1 || fabs(accel_scale.z-1.0) > 1.1 ) {
if( accel_scale.is_nan() || fabs(accel_scale.x-1.0) > 0.1 || fabs(accel_scale.y-1.0) > 0.1 || fabs(accel_scale.z-1.0) > 0.1 ) {
success = false;
}
// sanity check offsets (2.0 is roughly 2/10th of a G, 5.0 is roughly half a G)
if( accel_offsets.is_nan() || fabs(accel_offsets.x) > 2.0 || fabs(accel_offsets.y) > 2.0 || fabs(accel_offsets.z) > 5.0 ) {
if( accel_offsets.is_nan() || fabs(accel_offsets.x) > 2.0 || fabs(accel_offsets.y) > 2.0 || fabs(accel_offsets.z) > 2.0 ) {
success = false;
}