yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fix EKF velocity innovation limit preflight check

Browse Source
This commit is contained in:
Nate Weibley
2017-04-14 14:04:33 -04:00
committed by Lorenz Meier
parent f70b4ef883
commit 9038be2d83
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/commander/PreflightCheck.cpp
View File

@@ -473,7 +473,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
// check velocity innovation test ratio
param_get(param_find("COM_ARM_EKF_VEL"), &test_limit);
if (status.hgt_test_ratio > test_limit) {
if (status.vel_test_ratio > test_limit) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF VEL ERROR");
}