From 64a06d85239bc543ddb18422f70944e250f86a4d Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Tue, 12 Dec 2017 11:41:42 +1100 Subject: [PATCH] commander: Fix pre-flight delta velocity bias check level (#8446) Previous check level was less than the max achievable by the estimator using current default parameters making the check ineffective. --- src/modules/commander/commander_params.c | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index 21acd9ff2d..02adfb5a70 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -543,16 +543,17 @@ PARAM_DEFINE_FLOAT(COM_ARM_EKF_HGT, 1.0f); PARAM_DEFINE_FLOAT(COM_ARM_EKF_YAW, 0.5f); /** - * Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming + * Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming. + * Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than EKF2_ABL_LIM * FILTER_UPDATE_PERIOD_MS * 0.001 so this parameter must be less than that to be useful. * * @group Commander * @unit m/s * @min 0.001 * @max 0.01 * @decimal 4 - * @increment 0.0005 + * @increment 0.0001 */ -PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 5.0e-3f); +PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 2.4e-3f); /** * Maximum value of EKF gyro delta angle bias estimate that will allow arming