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OpenSource
Baitboat
Commits
1cbedc06
Commit
1cbedc06
authored
12 years ago
by
Randy Mackay
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AP_InertialSensor: relax accel offset sanity check
parent
493c2b6a
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libraries/AP_InertialSensor/AP_InertialSensor.cpp
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libraries/AP_InertialSensor/AP_InertialSensor.cpp
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libraries/AP_InertialSensor/AP_InertialSensor.cpp
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1cbedc06
...
...
@@ -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
.0
f
||
fabsf
(
accel_offsets
.
y
)
>
2
.0
f
||
fabsf
(
accel_offsets
.
z
)
>
3.0
f
)
{
if
(
accel_offsets
.
is_nan
()
||
fabsf
(
accel_offsets
.
x
)
>
3
.0
f
||
fabsf
(
accel_offsets
.
y
)
>
3
.0
f
||
fabsf
(
accel_offsets
.
z
)
>
3.0
f
)
{
success
=
false
;
}
...
...
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