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commander: increase COM_ARM_MAG_ANG 35 -> 45 degrees

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- in practice this is mostly useful for identifying incorrect rotations
which we mostly have in 45 degree increments
 - handling a vehicle on the ground can easily disturb one mag by more than 30 degrees, so this is often distracting noise
This commit is contained in:
Daniel Agar
2020-08-17 10:19:07 -04:00
parent 44c877c603
commit 2bb04f2261
4 changed files with 2 additions and 5 deletions
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ROMFS/px4fmu_common/init.d/airframes/4250_teal
-1
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@@ -49,7 +49,6 @@ then
# sensor calibration # sensor calibration
param set CAL_MAG_SIDES 63 param set CAL_MAG_SIDES 63
param set SENS_BOARD_ROT 0 param set SENS_BOARD_ROT 0
param set COM_ARM_MAG_ANG -1
param set COM_ARM_EKF_AB 0.0032 param set COM_ARM_EKF_AB 0.0032
# circuit breakers # circuit breakers
ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
-2
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@@ -91,8 +91,6 @@ then
# DSHOT # DSHOT
param set DSHOT_CONFIG 600 param set DSHOT_CONFIG 600
param set COM_ARM_MAG 0.2
param set MIS_TAKEOFF_ALT 1.1 param set MIS_TAKEOFF_ALT 1.1
##################################### #####################################
src/modules/commander/Arming/PreFlightCheck/checks/magConsistencyCheck.cpp
+1 -1
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@@ -60,7 +60,7 @@ bool PreFlightCheck::magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_
// Use the difference between sensors to detect a bad calibration, orientation or magnetic interference. // Use the difference between sensors to detect a bad calibration, orientation or magnetic interference.
// If a single sensor is fitted, the value being checked will be zero so this check will always pass. // If a single sensor is fitted, the value being checked will be zero so this check will always pass.
int32_t angle_difference_limit_deg; int32_t angle_difference_limit_deg = 90;
param_get(param_find("COM_ARM_MAG_ANG"), &angle_difference_limit_deg); param_get(param_find("COM_ARM_MAG_ANG"), &angle_difference_limit_deg);
pass = pass || angle_difference_limit_deg < 0; // disabled, pass check pass = pass || angle_difference_limit_deg < 0; // disabled, pass check
src/modules/commander/commander_params.c
+1 -1
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@@ -616,7 +616,7 @@ PARAM_DEFINE_FLOAT(COM_ARM_IMU_GYR, 0.25f);
* @min 3 * @min 3
* @max 180 * @max 180
*/ */
PARAM_DEFINE_INT32(COM_ARM_MAG_ANG, 30); PARAM_DEFINE_INT32(COM_ARM_MAG_ANG, 45);
/** /**
* Enable mag strength preflight check * Enable mag strength preflight check