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Improve magnetometer inconsistency check

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To check directional difference between the magnetometer field vectors
instead of vector component difference.
This commit is contained in:
Matthias Grob
2019-06-26 13:54:03 +01:00
committed by Lorenz Meier
parent 83e532d339
commit 45187e1aa8
7 changed files with 43 additions and 56 deletions
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2
src/modules/sensors/sensors.cpp
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@@ -673,7 +673,7 @@ Sensors::run()
preflt.timestamp = hrt_absolute_time();
_voted_sensors_update.calc_accel_inconsistency(preflt);
_voted_sensors_update.calc_gyro_inconsistency(preflt);
_voted_sensors_update.calc_mag_inconsistency(preflt);
_voted_sensors_update.calcMagInconsistency(preflt);
orb_publish(ORB_ID(sensor_preflight), _sensor_preflight, &preflt);
}
}