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commander: Fix pre-flight delta velocity bias check level (#8446)

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Previous check level was less than the max achievable by the estimator using current default parameters making the check ineffective.
This commit is contained in:
Paul Riseborough
2017-12-12 11:41:42 +11:00
committed by GitHub
parent cc216ef918
commit 64a06d8523
1 changed files with 4 additions and 3 deletions
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src/modules/commander/commander_params.c
+4 -3
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@@ -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