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AP_Arming: check ahrs and gps differ by less than 10m

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This commit is contained in:
Randy Mackay 2017-09-18 12:14:52 +09:00
parent 1b3cc9289b
commit f029303d96
1 changed files with 14 additions and 0 deletions
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14
libraries/AP_Arming/AP_Arming.cpp
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@ -23,6 +23,7 @@
#define AP_ARMING_BOARD_VOLTAGE_MIN 4.3f
#define AP_ARMING_BOARD_VOLTAGE_MAX 5.8f
#define AP_ARMING_ACCEL_ERROR_THRESHOLD 0.75f
#define AP_ARMING_AHRS_GPS_ERROR_MAX 10 // accept up to 10m difference between AHRS and GPS
extern const AP_HAL::HAL& hal;
@ -374,6 +375,19 @@ bool AP_Arming::gps_checks(bool report)
}
return false;
}
// check AHRS and GPS are within 10m of each other
Location gps_loc = ahrs.get_gps().location();
Location ahrs_loc;
if (ahrs.get_position(ahrs_loc)) {
float distance = location_3d_diff_NED(gps_loc, ahrs_loc).length();
if (distance > AP_ARMING_AHRS_GPS_ERROR_MAX) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: GPS and AHRS differ by %4.1fm", (double)distance);
}
return false;
}
}
}
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) {