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Commander: Relax pre-arm check for EKF

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The previous testing ratios could lead to extremely tight pre-arm acceptance.
This commit is contained in:
Lorenz Meier
2021-02-21 22:32:27 +01:00
committed by Daniel Agar
parent f12d368a64
commit 90f5d7338c
1 changed files with 2 additions and 2 deletions
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src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp
+2 -2
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@@ -242,7 +242,7 @@ bool PreFlightCheck::ekf2CheckSensorBias(orb_advert_t *mavlink_log_pub, const bo
// check accelerometer bias estimates // check accelerometer bias estimates
if (bias.accel_bias_valid) { if (bias.accel_bias_valid) {
const float ekf_ab_test_limit = 0.5f * bias.accel_bias_limit; const float ekf_ab_test_limit = 0.75f * bias.accel_bias_limit;
for (uint8_t axis_index = 0; axis_index < 3; axis_index++) { for (uint8_t axis_index = 0; axis_index < 3; axis_index++) {
// allow for higher uncertainty in estimates for axes that are less observable to prevent false positives // allow for higher uncertainty in estimates for axes that are less observable to prevent false positives
@@ -263,7 +263,7 @@ bool PreFlightCheck::ekf2CheckSensorBias(orb_advert_t *mavlink_log_pub, const bo
// check gyro bias estimates // check gyro bias estimates
if (bias.gyro_bias_valid) { if (bias.gyro_bias_valid) {
const float ekf_gb_test_limit = 0.5f * bias.gyro_bias_limit; const float ekf_gb_test_limit = 0.75f * bias.gyro_bias_limit;
for (uint8_t axis_index = 0; axis_index < 3; axis_index++) { for (uint8_t axis_index = 0; axis_index < 3; axis_index++) {
// allow for higher uncertainty in estimates for axes that are less observable to prevent false positives // allow for higher uncertainty in estimates for axes that are less observable to prevent false positives