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estimated IMU bias preflight checks

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- commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number
 - ekf2 publish estimated bias limits in estimator_sensor_bias
 - preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
This commit is contained in:
Daniel Agar
2021-01-12 09:09:42 +01:00
committed by Lorenz Meier
parent 7c95e99156
commit 48f125f150
10 changed files with 51 additions and 70 deletions
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ROMFS/px4fmu_common/init.d/airframes/4071_ifo
-1
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@@ -98,7 +98,6 @@ then
param set BAT_V_DIV 10.14
param set BAT_A_PER_V 18.18
#param set CBRK_IO_SAFETY 22027
param set COM_ARM_EKF_AB 0.005
param set COM_DISARM_LAND 2
# Filter settings
ROMFS/px4fmu_common/init.d/airframes/4072_draco
-1
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@@ -77,7 +77,6 @@ then
param set BAT_SOURCE 0
param set CBRK_IO_SAFETY 22027
#param set COM_ARM_EKF_AB 0.005
#param set COM_DISARM_LAND 3
# Filter settings
ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
-1
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@@ -107,7 +107,6 @@ then
param set BAT_V_DIV 10.14
param set BAT_A_PER_V 18.18
#param set CBRK_IO_SAFETY 22027
param set COM_ARM_EKF_AB 0.005
param set COM_DISARM_LAND 2
# Filter settings
ROMFS/px4fmu_common/init.d/airframes/4250_teal
-1
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@@ -49,7 +49,6 @@ then
# sensor calibration
param set CAL_MAG_SIDES 63
param set SENS_BOARD_ROT 0
param set COM_ARM_EKF_AB 0.0032
# circuit breakers
param set CBRK_IO_SAFETY 22027