From d11e5497a41a51d317e56b2569ca153b7fb938bf Mon Sep 17 00:00:00 2001 From: Randy Mackay <rmackay9@yahoo.com> Date: Sun, 7 Jul 2013 17:49:45 -1000 Subject: [PATCH] Copter: relax pre-arm checks for mag field previously it was 50% ~ 150% of expected mag field but now expanded to 35% ~ 165%. --- ArduCopter/motors.pde | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde index 07aab627f..c73860ee0 100644 --- a/ArduCopter/motors.pde +++ b/ArduCopter/motors.pde @@ -249,7 +249,7 @@ static void pre_arm_checks(bool display_failure) // check for unreasonable mag field length float mag_field = pythagorous3(compass.mag_x, compass.mag_y, compass.mag_z); - if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.5 || mag_field < COMPASS_MAGFIELD_EXPECTED*0.5) { + if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65 || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35) { if (display_failure) { gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check mag field")); } -- GitLab