From 9038be2d832be38b7be1fa0dad8f1addfc6d34f0 Mon Sep 17 00:00:00 2001 From: Nate Weibley Date: Fri, 14 Apr 2017 14:04:33 -0400 Subject: [PATCH] Fix EKF velocity innovation limit preflight check --- src/modules/commander/PreflightCheck.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp index ea724da8b3..a780808461 100644 --- a/src/modules/commander/PreflightCheck.cpp +++ b/src/modules/commander/PreflightCheck.cpp @@ -473,7 +473,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_ // check velocity innovation test ratio param_get(param_find("COM_ARM_EKF_VEL"), &test_limit); - if (status.hgt_test_ratio > test_limit) { + if (status.vel_test_ratio > test_limit) { if (report_fail) { mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF VEL ERROR"); }