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INS: relax accel offset check to 3.5 m/s/s

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One user, Dusty, has found that even with offsets of 3.1 m/s/s
successful alt hold and loiter are possible
This commit is contained in:
Randy Mackay 2013-07-13 10:43:07 +09:00
parent 5a40ee7a38
commit effc829790
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -476,8 +476,8 @@ bool AP_InertialSensor::_calibrate_accel( Vector3f accel_sample[6],
if( accel_scale.is_nan() || fabsf(accel_scale.x-1.0f) > 0.1f || fabsf(accel_scale.y-1.0f) > 0.1f || fabsf(accel_scale.z-1.0f) > 0.1f ) {
success = false;
}
// sanity check offsets (2.0 is roughly 2/10th of a G, 5.0 is roughly half a G)
if( accel_offsets.is_nan() || fabsf(accel_offsets.x) > 3.0f || fabsf(accel_offsets.y) > 3.0f || fabsf(accel_offsets.z) > 3.0f ) {
// sanity check offsets (3.5 is roughly 3/10th of a G, 5.0 is roughly half a G)
if( accel_offsets.is_nan() || fabsf(accel_offsets.x) > 3.5f || fabsf(accel_offsets.y) > 3.5f || fabsf(accel_offsets.z) > 3.5f ) {
success = false;
}