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Fix EKF velocity innovation limit preflight check

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Nate Weibley
2017-04-14 14:04:33 -04:00
committed by Lorenz Meier
parent f70b4ef883
commit 9038be2d83
1 changed files with 1 additions and 1 deletions
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src/modules/commander/PreflightCheck.cpp
+1 -1
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@@ -473,7 +473,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
// check velocity innovation test ratio // check velocity innovation test ratio
param_get(param_find("COM_ARM_EKF_VEL"), &test_limit); param_get(param_find("COM_ARM_EKF_VEL"), &test_limit);
if (status.hgt_test_ratio > test_limit) { if (status.vel_test_ratio > test_limit) {
if (report_fail) { if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF VEL ERROR"); mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF VEL ERROR");
} }