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commander: Reduce false positives in pre-flight accel bias check

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This commit is contained in:
Paul Riseborough
2019-01-31 09:11:19 +11:00
committed by Beat Küng
parent 7ecb04db2b
commit 6fb7cda9f2
2 changed files with 14 additions and 1 deletions
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13
src/modules/commander/PreflightCheck.cpp
View File

@@ -576,6 +576,19 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s
// check accelerometer delta velocity bias estimates
param_get(param_find("COM_ARM_EKF_AB"), &test_limit);
for (uint8_t index=13; index<16; index++) {
// allow for higher uncertainty in estimates for axes that are less observable to prevent false positives
// adjust test threshold by 3-sigma
float test_uncertainty = 3.0f * sqrtf(fmaxf(status.covariances[index],0.0f));
if (fabsf(status.states[index]) > test_limit + test_uncertainty) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: High Accelerometer Bias");
}
success = false;
goto out;
}
}
if (fabsf(status.states[13]) > test_limit || fabsf(status.states[14]) > test_limit
|| fabsf(status.states[15]) > test_limit) {

2
src/modules/commander/commander_params.c
View File

@@ -575,7 +575,7 @@ PARAM_DEFINE_FLOAT(COM_ARM_EKF_YAW, 0.5f);
* @decimal 4
* @increment 0.0001
*/
PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 2.4e-3f);
PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 1.73e-3f);
/**
* Maximum value of EKF gyro delta angle bias estimate that will allow arming