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Copter: pre-arm check of EKF origin vs home

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EKF origin must be within 50km of home or numerical errors get too large
This commit is contained in:
Randy Mackay 2015-02-09 21:35:34 +09:00
parent e7579198c9
commit fbe87afb9c
1 changed files with 9 additions and 0 deletions
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9
ArduCopter/motors.pde
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@ -551,6 +551,15 @@ static bool pre_arm_gps_checks(bool display_failure)
return false; return false;
} }
// check home and EKF origin are not too far
if (far_from_EKF_origin(ahrs.get_home())) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: EKF-home variance"));
}
AP_Notify::flags.pre_arm_gps_check = false;
return false;
}
// warn about hdop separately - to prevent user confusion with no gps lock // warn about hdop separately - to prevent user confusion with no gps lock
if (gps.get_hdop() > g.gps_hdop_good) { if (gps.get_hdop() > g.gps_hdop_good) {
if (display_failure) { if (display_failure) {