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Commander: Fix pre-flight EKF check errors

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This commit is contained in:
Paul Riseborough
2016-12-09 11:16:57 +11:00
committed by Lorenz Meier
parent 9442c89691
commit 1fbc688757
2 changed files with 7 additions and 7 deletions
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4
src/modules/commander/PreflightCheck.cpp
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@@ -500,7 +500,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
}
// check accelerometer delta velocity bias estimates
param_get(param_find("COM_ARM_IMU_AB"), &test_limit);
param_get(param_find("COM_ARM_EKF_AB"), &test_limit);
if (fabsf(status.states[13]) > test_limit || fabsf(status.states[14]) > test_limit || fabsf(status.states[15]) > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HIGH IMU ACCEL BIAS");
@@ -510,7 +510,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
}
// check gyro delta angle bias estimates
param_get(param_find("COM_ARM_IMU_GB"), &test_limit);
param_get(param_find("COM_ARM_EKF_GB"), &test_limit);
if (fabsf(status.states[10]) > test_limit || fabsf(status.states[11]) > test_limit || fabsf(status.states[12]) > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HIGH IMU GYRO BIAS");