From 0065b3b2244d587649edf3ea1b68557f8b8c5d72 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 20 Jan 2015 12:44:02 +0900 Subject: [PATCH] Copter: tighten accel and gyro pre-arm consistency check Accel diff threshold to 0.7m/s/s (was 1.0 m/s/s) Gyro diff threshold to 5deg/sec (was 20deg/sec) --- ArduCopter/config.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index f9edb93b68..e3edee25f7 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -335,12 +335,12 @@ // arming check's maximum acceptable accelerometer vector difference (in m/s/s) between primary and backup accelerometers #ifndef PREARM_MAX_ACCEL_VECTOR_DIFF - #define PREARM_MAX_ACCEL_VECTOR_DIFF 1.0f // pre arm accel check will fail if primary and backup accelerometer vectors differ by 1m/s/s + #define PREARM_MAX_ACCEL_VECTOR_DIFF 0.70f // pre arm accel check will fail if primary and backup accelerometer vectors differ by 0.7m/s/s #endif // arming check's maximum acceptable rotation rate difference (in rad/sec) between primary and backup gyros #ifndef PREARM_MAX_GYRO_VECTOR_DIFF - #define PREARM_MAX_GYRO_VECTOR_DIFF 0.35f // pre arm gyro check will fail if primary and backup gyro vectors differ by 0.35 rad/sec (=20deg/sec) + #define PREARM_MAX_GYRO_VECTOR_DIFF 0.0873f // pre arm gyro check will fail if primary and backup gyro vectors differ by 0.0873 rad/sec (=5deg/sec) #endif //////////////////////////////////////////////////////////////////////////////