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Reduce false positives in pre-flight accel bias check #11350

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merged 3 commits into from
Feb 4, 2019
Merged

Reduce false positives in pre-flight accel bias check #11350

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897c9b1
commander: Reduce false positives in pre-flight accel bias check
priseborough Jan 30, 2019
7fd75b7
PreflightCheck trivial astyle fix
dagar Jan 31, 2019
cfd3f8c
commander: remove duplicate check
priseborough Feb 1, 2019
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13 changes: 13 additions & 0 deletions src/modules/commander/PreflightCheck.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -576,6 +576,19 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s

// check accelerometer delta velocity bias estimates
param_get(param_find("COM_ARM_EKF_AB"), &test_limit);
for (uint8_t index=13; index<16; index++) {
// allow for higher uncertainty in estimates for axes that are less observable to prevent false positives
// adjust test threshold by 3-sigma
float test_uncertainty = 3.0f * sqrtf(fmaxf(status.covariances[index],0.0f));
if (fabsf(status.states[index]) > test_limit + test_uncertainty) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: High Accelerometer Bias");
}

success = false;
goto out;
}
}

if (fabsf(status.states[13]) > test_limit || fabsf(status.states[14]) > test_limit
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Remove the original "High Accelerometer Bias" check?

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Reporting the reason for failure if report_fail is true is consistent with the way other test failures are handled.

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Isn't this new "High Accelerometer Bias" check with uncertainty a replacement for the existing "High Accelerometer Bias"? The existing check is still going to trigger, and hence not reduce the number of false positives.

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Will fix.

|| fabsf(status.states[15]) > test_limit) {
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2 changes: 1 addition & 1 deletion src/modules/commander/commander_params.c
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Expand Up @@ -575,7 +575,7 @@ PARAM_DEFINE_FLOAT(COM_ARM_EKF_YAW, 0.5f);
* @decimal 4
* @increment 0.0001
*/
PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 2.4e-3f);
PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 1.73e-3f);

/**
* Maximum value of EKF gyro delta angle bias estimate that will allow arming
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