From fff35fe34bea139fae5e2b4fe27a75798a95135f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 26 Dec 2016 14:03:10 +0100 Subject: [PATCH] Commander: Improve preflight check experience * Loosen thresholds for gyro consistency check until temperature compensated units are the norm * Cut down string lengths so they make it through the MAVLink transport as a whole --- src/modules/commander/PreflightCheck.cpp | 8 ++++---- src/modules/commander/commander_params.c | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp index e180542faf..dea5095dd0 100644 --- a/src/modules/commander/PreflightCheck.cpp +++ b/src/modules/commander/PreflightCheck.cpp @@ -176,14 +176,14 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, bool checkAcc, bo if (checkAcc) { if (sensors.accel_inconsistency_m_s_s > test_limit) { if (report_status) { - mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL SENSORS INCONSISTENT - CHECK CALIBRATION"); + mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCELS INCONSISTENT - CHECK CAL"); } success = false; goto out; } else if (sensors.accel_inconsistency_m_s_s > test_limit * 0.5f) { if (report_status) { - mavlink_log_info(mavlink_log_pub, "PREFLIGHT ADVICE: ACCEL SENSORS INCONSISTENT - CHECK CALIBRATION"); + mavlink_log_info(mavlink_log_pub, "PREFLIGHT ADVICE: ACCELS INCONSISTENT - CHECK CAL"); } } @@ -193,14 +193,14 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, bool checkAcc, bo if (checkGyro) { if (sensors.gyro_inconsistency_rad_s > test_limit) { if (report_status) { - mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO SENSORS INCONSISTENT - CHECK CALIBRATION"); + mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYROS INCONSISTENT - CHECK CAL"); } success = false; goto out; } else if (sensors.gyro_inconsistency_rad_s > test_limit * 0.5f) { if (report_status) { - mavlink_log_info(mavlink_log_pub, "PREFLIGHT ADVICE: GYRO SENSORS INCONSISTENT - CHECK CALIBRATION"); + mavlink_log_info(mavlink_log_pub, "PREFLIGHT ADVICE: GYROS INCONSISTENT - CHECK CAL"); } } diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index fa0ee0fd01..509e3a8000 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -581,4 +581,4 @@ PARAM_DEFINE_FLOAT(COM_ARM_IMU_ACC, 0.7f); * @decimal 3 * @increment 0.01 */ -PARAM_DEFINE_FLOAT(COM_ARM_IMU_GYR, 0.09f); +PARAM_DEFINE_FLOAT(COM_ARM_IMU_GYR, 0.15f);