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AP_Compass: more parameter checks in compass calibrator

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Jonathan Challinger 2015-03-11 23:42:50 -07:00 committed by Andrew Tridgell
parent 929ddb5685
commit f2acf2cb88
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_Compass/CompassCalibrator.cpp
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@ -246,11 +246,13 @@ bool CompassCalibrator::set_status(compass_cal_status_t status) {
bool CompassCalibrator::fit_acceptable() {
if( !isnan(_fitness) &&
_params.radius > 200 && //Earth's magnetic field strength range: 250-650mG
_params.radius < 700 &&
_params.radius > 150 && _params.radius < 950 && //Earth's magnetic field strength range: 250-850mG
fabsf(_params.offset.x) < 1000 &&
fabsf(_params.offset.y) < 1000 &&
fabsf(_params.offset.z) < 1000 &&
_params.diag.x > 0.2f && _params.diag.x < 5.0f &&
_params.diag.y > 0.2f && _params.diag.y < 5.0f &&
_params.diag.z > 0.2f && _params.diag.z < 5.0f &&
fabsf(_params.offdiag.x) < 1.0f && //absolute of sine/cosine output cannot be greater than 1
fabsf(_params.offdiag.x) < 1.0f &&
fabsf(_params.offdiag.x) < 1.0f ){