From 1cbedc06b307b952ad8dc060df2ed8689d691f5c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 25 Jun 2013 14:18:22 +0900
Subject: [PATCH] AP_InertialSensor: relax accel offset sanity check

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 45f5ba3bd..15fee8cd5 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -477,7 +477,7 @@ bool AP_InertialSensor::_calibrate_accel( Vector3f accel_sample[6],
         success = false;
     }
     // sanity check offsets (2.0 is roughly 2/10th of a G, 5.0 is roughly half a G)
-    if( accel_offsets.is_nan() || fabsf(accel_offsets.x) > 2.0f || fabsf(accel_offsets.y) > 2.0f || fabsf(accel_offsets.z) > 3.0f ) {
+    if( accel_offsets.is_nan() || fabsf(accel_offsets.x) > 3.0f || fabsf(accel_offsets.y) > 3.0f || fabsf(accel_offsets.z) > 3.0f ) {
         success = false;
     }
 
-- 
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