AP_Arming: Add threshold arguments to consistency checks

Added arguments to the gyros_consistent and accels_consistent methods for allowable threshold and required time for checks
ArduPilot · Feb 7, 2024 · 5428a92 · 5428a92
1 parent 7906055
commit 5428a92
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
@@ -379,13 +379,13 @@ bool AP_Arming::ins_checks(bool report)
         }
 
         // check all accelerometers point in roughly same direction
-        if (!ins.accels_consistent(accel_error_threshold)) {
+        if (!ins.accels_consistent(accel_error_threshold, 10)) {
             check_failed(ARMING_CHECK_INS, report, "Accels inconsistent");
             return false;
         }
 
         // check all gyros are giving consistent readings
-        if (!ins.gyros_consistent()) {
+        if (!ins.gyros_consistent(5, 10)) {
             check_failed(ARMING_CHECK_INS, report, "Gyros inconsistent");
             return false;
         }