From 74daf73c4976dde08117c178297ed97894b08ed1 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Fri, 23 Nov 2012 00:34:42 +0900
Subject: [PATCH] AP_InertialSensor: increase acceptable Z accel offset to be
 3.0 G

Note: Z offsets do tend to be larger than x and y offsets
---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 85192d9171..2887ea6882 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -377,7 +377,7 @@ bool AP_InertialSensor::_calibrate_accel( Vector3f accel_sample[6], Vector3f& ac
         success = false;
     }
     // sanity check offsets (2.0 is roughly 2/10th of a G, 5.0 is roughly half a G)
-    if( accel_offsets.is_nan() || fabs(accel_offsets.x) > 2.0 || fabs(accel_offsets.y) > 2.0 || fabs(accel_offsets.z) > 2.0 ) {
+    if( accel_offsets.is_nan() || fabs(accel_offsets.x) > 2.0 || fabs(accel_offsets.y) > 2.0 || fabs(accel_offsets.z) > 3.0 ) {
         success = false;
     }