AP_Compass: loosen calibration acceptance tolerance

3drobotics · Apr 17, 2015 · 8766c64 · 8766c64
1 parent 2edb096
commit 8766c64
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/libraries/AP_Compass/AP_Compass_Calibration.cpp b/libraries/AP_Compass/AP_Compass_Calibration.cpp
@@ -34,9 +34,9 @@ Compass::start_calibration(uint8_t i, bool retry, bool autosave, float delay)
             AP_Notify::events.initiated_compass_cal = 1;
         }
         if (i == get_primary()) {
-            _calibrator[i].set_tolerance(5);
+            _calibrator[i].set_tolerance(8);
         } else {
-            _calibrator[i].set_tolerance(10);
+            _calibrator[i].set_tolerance(16);
         }
         _calibrator[i].start(retry, autosave, delay);
         return true;

diff --git a/libraries/AP_Compass/CompassCalibrator.cpp b/libraries/AP_Compass/CompassCalibrator.cpp
@@ -293,11 +293,11 @@ bool CompassCalibrator::accept_sample(const Vector3f& sample)
         return false;
     }
 
-    float max_distance = fabsf(5.38709f * _params.radius / sqrtf((float)COMPASS_CAL_NUM_SAMPLES)) / 3.0f;
+    float min_distance = fabsf(5.38709f * _params.radius / sqrtf((float)COMPASS_CAL_NUM_SAMPLES)) / 3.0f;
 
     for (uint16_t i = 0; i<_samples_collected; i++){
         float distance = (sample - _sample_buffer[i].get()).length();
-        if(distance < max_distance) {
+        if(distance < min_distance) {
             return false;
         }
     }