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AP_Compass: loosen calibration acceptance tolerance

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Jonathan Challinger 2015-04-16 11:14:47 -07:00 committed by Andrew Tridgell
parent 987f55387e
commit 0edf1df28e
2 changed files with 4 additions and 4 deletions
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4
libraries/AP_Compass/AP_Compass_Calibration.cpp
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@ -34,9 +34,9 @@ Compass::start_calibration(uint8_t i, bool retry, bool autosave, float delay)
AP_Notify::events.initiated_compass_cal = 1;
}
if (i == get_primary()) {
_calibrator[i].set_tolerance(5);
_calibrator[i].set_tolerance(8);
} else {
_calibrator[i].set_tolerance(10);
_calibrator[i].set_tolerance(16);
}
_calibrator[i].start(retry, autosave, delay);
return true;

4
libraries/AP_Compass/CompassCalibrator.cpp
View File

@ -293,11 +293,11 @@ bool CompassCalibrator::accept_sample(const Vector3f& sample)
return false;
}
float max_distance = fabsf(5.38709f * _params.radius / sqrtf((float)COMPASS_CAL_NUM_SAMPLES)) / 3.0f;
float min_distance = fabsf(5.38709f * _params.radius / sqrtf((float)COMPASS_CAL_NUM_SAMPLES)) / 3.0f;
for (uint16_t i = 0; i<_samples_collected; i++){
float distance = (sample - _sample_buffer[i].get()).length();
if(distance < max_distance) {
if(distance < min_distance) {
return false;
}
}