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Copter: double the threshold for accel inconsistency on IMU3 

IMU3 varies in temperature a lot compared to IMU1/IMU2, so needs a
higher threshold to prevent false positives
This commit is contained in:
Andrew Tridgell 2015-05-08 20:06:21 +10:00
parent 3390d9932e
commit d61848817b
1 changed files with 10 additions and 1 deletions
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11
ArduCopter/motors.pde
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@ -416,7 +416,16 @@ static bool pre_arm_checks(bool display_failure)
// get next accel vector
const Vector3f &accel_vec = ins.get_accel(i);
Vector3f vec_diff = accel_vec - prime_accel_vec;
if (vec_diff.length() > PREARM_MAX_ACCEL_VECTOR_DIFF) {
float threshold = PREARM_MAX_ACCEL_VECTOR_DIFF;
if (i >= 2) {
/*
for boards with 3 IMUs we only use the first two
in the EKF. Allow for larger accel discrepancy
for IMU3 as it may be running at a different temperature
*/
threshold *= 2;
}
if (vec_diff.length() > threshold) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: inconsistent Accelerometers"));
}