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Copter: use disparity threshold define for pre-arm checks

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There are two duplicate checks, one in the pre-arm checks (i.e. checks
run every 15 seconds or so before the vehicle is armed) and one in the
arming checks (run immediately before arming).  The definition in the
pre-arm checks was still using the old hardcoded value.
This commit is contained in:
Randy Mackay 2014-09-23 19:33:04 +09:00
parent 5e197407b9
commit d66ffd5b07
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/motors.pde
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@ -253,7 +253,7 @@ static void pre_arm_checks(bool display_failure)
return; return;
} }
// check Baro & inav alt are within 1m // check Baro & inav alt are within 1m
if(fabs(inertial_nav.get_altitude() - baro_alt) > 100) { if(fabs(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
if (display_failure) { if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Alt disparity")); gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Alt disparity"));
} }