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Commander: Improve preflight check experience 

* Loosen thresholds for gyro consistency check until temperature compensated units are the norm
  * Cut down string lengths so they make it through the MAVLink transport as a whole
This commit is contained in:
Lorenz Meier 2016-12-26 14:03:10 +01:00
parent 4dc96e3ea1
commit fff35fe34b
2 changed files with 5 additions and 5 deletions
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8
src/modules/commander/PreflightCheck.cpp
View File

@ -176,14 +176,14 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, bool checkAcc, bo
if (checkAcc) {
if (sensors.accel_inconsistency_m_s_s > test_limit) {
if (report_status) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL SENSORS INCONSISTENT - CHECK CALIBRATION");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCELS INCONSISTENT - CHECK CAL");
}
success = false;
goto out;
} else if (sensors.accel_inconsistency_m_s_s > test_limit * 0.5f) {
if (report_status) {
mavlink_log_info(mavlink_log_pub, "PREFLIGHT ADVICE: ACCEL SENSORS INCONSISTENT - CHECK CALIBRATION");
mavlink_log_info(mavlink_log_pub, "PREFLIGHT ADVICE: ACCELS INCONSISTENT - CHECK CAL");
}
}
@ -193,14 +193,14 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, bool checkAcc, bo
if (checkGyro) {
if (sensors.gyro_inconsistency_rad_s > test_limit) {
if (report_status) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO SENSORS INCONSISTENT - CHECK CALIBRATION");
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYROS INCONSISTENT - CHECK CAL");
}
success = false;
goto out;
} else if (sensors.gyro_inconsistency_rad_s > test_limit * 0.5f) {
if (report_status) {
mavlink_log_info(mavlink_log_pub, "PREFLIGHT ADVICE: GYRO SENSORS INCONSISTENT - CHECK CALIBRATION");
mavlink_log_info(mavlink_log_pub, "PREFLIGHT ADVICE: GYROS INCONSISTENT - CHECK CAL");
}
}

2
src/modules/commander/commander_params.c
View File

@ -581,4 +581,4 @@ PARAM_DEFINE_FLOAT(COM_ARM_IMU_ACC, 0.7f);
* @decimal 3
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(COM_ARM_IMU_GYR, 0.09f);
PARAM_DEFINE_FLOAT(COM_ARM_IMU_GYR, 0.15f);