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AP_Arming: loosen accelerometer consistency check on Z axis

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Original author @jschall via 88f5d9f858
This commit is contained in:
Jonathan Challinger 2016-04-18 13:36:17 -07:00 committed by Tom Pittenger
parent d55050e5e3
commit 0281b948df
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_Arming/AP_Arming.cpp
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@ -210,6 +210,9 @@ bool AP_Arming::ins_checks(bool report)
*/ */
threshold *= 3; threshold *= 3;
} }
// EKF is less sensitive to Z-axis error and Z-axis is more
// likely to be temperature-sensitive on our hardware
vec_diff.z *= 0.5f;
if (vec_diff.length() <= threshold) { if (vec_diff.length() <= threshold) {
last_accel_pass_ms[i] = AP_HAL::millis(); last_accel_pass_ms[i] = AP_HAL::millis();
} }