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imu consistency: don't scale param threshold

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This commit is contained in:
bresch
2024-04-24 11:09:10 +02:00
committed by Daniel Agar
parent 8bf1cf0b15
commit b508df39a2
1 changed files with 2 additions and 14 deletions
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src/modules/commander/HealthAndArmingChecks/checks/imuConsistencyCheck.cpp
+2 -14
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@@ -48,13 +48,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report
const float accel_inconsistency_m_s_s = imu.accel_inconsistency_m_s_s[i];
NavModes required_groups = NavModes::None;
if (accel_inconsistency_m_s_s > _param_com_arm_imu_acc.get()) {
required_groups = NavModes::All;
}
if (accel_inconsistency_m_s_s > _param_com_arm_imu_acc.get() * 0.8f) {
/* EVENT
* @description
* Check the calibration.
@@ -66,7 +60,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report
* This check can be configured via <param>COM_ARM_IMU_ACC</param> parameter.
* </profile>
*/
reporter.armingCheckFailure<uint8_t, float, float>(required_groups, health_component_t::accel,
reporter.armingCheckFailure<uint8_t, float, float>(NavModes::All, health_component_t::accel,
events::ID("check_imu_accel_inconsistent"),
events::Log::Warning, "Accel {1} inconsistent", i, accel_inconsistency_m_s_s, _param_com_arm_imu_acc.get());
@@ -85,13 +79,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report
const float gyro_inconsistency_rad_s = imu.gyro_inconsistency_rad_s[i];
NavModes required_groups = NavModes::None;
if (gyro_inconsistency_rad_s > _param_com_arm_imu_gyr.get()) {
required_groups = NavModes::All;
}
if (gyro_inconsistency_rad_s > _param_com_arm_imu_gyr.get() * 0.5f) {
/* EVENT
* @description
* Check the calibration.
@@ -103,7 +91,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report
* This check can be configured via <param>COM_ARM_IMU_GYR</param> parameter.
* </profile>
*/
reporter.armingCheckFailure<uint8_t, float, float>(required_groups, health_component_t::gyro,
reporter.armingCheckFailure<uint8_t, float, float>(NavModes::All, health_component_t::gyro,
events::ID("check_imu_gyro_inconsistent"),
events::Log::Warning, "Gyro {1} inconsistent", i, gyro_inconsistency_rad_s, _param_com_arm_imu_gyr.get());