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Improve magnetometer inconsistency check

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To check directional difference between the magnetometer field vectors
instead of vector component difference.
This commit is contained in:
Matthias Grob
2019-08-07 18:44:39 +02:00
committed by Lorenz Meier
parent 83e532d339
commit 45187e1aa8
7 changed files with 43 additions and 56 deletions
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msg/sensor_preflight.msg
+4 -4
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@@ -2,7 +2,7 @@
# Pre-flight sensor check metrics. These will be zero if the vehicle only has one sensor.
# The topic will not be updated when the vehicle is armed
#
uint64 timestamp # time since system start (microseconds)
float32 accel_inconsistency_m_s_s # magnitude of maximum acceleration difference between IMU instances in (m/s/s).
float32 gyro_inconsistency_rad_s # magnitude of maximum angular rate difference between IMU instances in (rad/s).
float32 mag_inconsistency_ga # magnitude of maximum difference between Mag instances in (Gauss).
uint64 timestamp # time since system start (microseconds)
float32 accel_inconsistency_m_s_s # magnitude of maximum acceleration difference between IMU instances in (m/s/s).
float32 gyro_inconsistency_rad_s # magnitude of maximum angular rate difference between IMU instances in (rad/s).
float32 mag_inconsistency_angle # maximum angle between magnetometer instance field vectors in radians.