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Commander: Fix pre-flight EKF check errors

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This commit is contained in:
Paul Riseborough
2016-12-09 11:16:57 +11:00
committed by Lorenz Meier
parent 9442c89691
commit 1fbc688757
2 changed files with 7 additions and 7 deletions
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src/modules/commander/PreflightCheck.cpp
+2 -2
View File
@@ -500,7 +500,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
} }
// check accelerometer delta velocity bias estimates // check accelerometer delta velocity bias estimates
param_get(param_find("COM_ARM_IMU_AB"), &test_limit); param_get(param_find("COM_ARM_EKF_AB"), &test_limit);
if (fabsf(status.states[13]) > test_limit || fabsf(status.states[14]) > test_limit || fabsf(status.states[15]) > test_limit) { if (fabsf(status.states[13]) > test_limit || fabsf(status.states[14]) > test_limit || fabsf(status.states[15]) > test_limit) {
if (report_fail) { if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HIGH IMU ACCEL BIAS"); mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HIGH IMU ACCEL BIAS");
@@ -510,7 +510,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
} }
// check gyro delta angle bias estimates // check gyro delta angle bias estimates
param_get(param_find("COM_ARM_IMU_GB"), &test_limit); param_get(param_find("COM_ARM_EKF_GB"), &test_limit);
if (fabsf(status.states[10]) > test_limit || fabsf(status.states[11]) > test_limit || fabsf(status.states[12]) > test_limit) { if (fabsf(status.states[10]) > test_limit || fabsf(status.states[11]) > test_limit || fabsf(status.states[12]) > test_limit) {
if (report_fail) { if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HIGH IMU GYRO BIAS"); mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HIGH IMU GYRO BIAS");
src/modules/commander/commander_params.c
+5 -5
View File
@@ -527,11 +527,11 @@ PARAM_DEFINE_FLOAT(COM_ARM_EKF_YAW, 0.5f);
* @group Commander * @group Commander
* @unit m/s * @unit m/s
* @min 0.001 * @min 0.001
* @max 0.004 * @max 0.01
* @decimal 4 * @decimal 4
* @increment 0.0005 * @increment 0.0005
*/ */
PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 2.0e-3f); PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 5.0e-3f);
/** /**
* Maximum value of EKF gyro delta angle bias estimate that will allow arming * Maximum value of EKF gyro delta angle bias estimate that will allow arming
@@ -539,11 +539,11 @@ PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 2.0e-3f);
* @group Commander * @group Commander
* @unit rad * @unit rad
* @min 0.0001 * @min 0.0001
* @max 0.0007 * @max 0.0017
* @decimal 5 * @decimal 5
* @increment 0.00005 * @increment 0.0001
*/ */
PARAM_DEFINE_FLOAT(COM_ARM_EKF_GB, 3.5e-4f); PARAM_DEFINE_FLOAT(COM_ARM_EKF_GB, 8.7e-4f);
/** /**
* Maximum accelerometer inconsistency between IMU units that will allow arming * Maximum accelerometer inconsistency between IMU units that will allow arming