From 5428a9243e0f215f03b8b17f2dd3d25750461a27 Mon Sep 17 00:00:00 2001
From: Hayden Donald <haydendonald@gmail.com>
Date: Fri, 10 Nov 2023 10:25:27 +1100
Subject: [PATCH] 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
---
 libraries/AP_Arming/AP_Arming.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index c2922bb490dbe0..3ccb69d9667157 100644
--- 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;
         }