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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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src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
+1 -1
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@@ -111,7 +111,7 @@ private:
static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool optional,
const bool report_fail, const bool enforce_gps_required);
static bool ekf2CheckStates(orb_advert_t *mavlink_log_pub, const bool report_fail);
static bool ekf2CheckSensorBias(orb_advert_t *mavlink_log_pub, const bool report_fail);
static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
const bool prearm);