Commander: Fix pre-flight EKF check errors

src/modules/commander/PreflightCheck.cpp

@@ -500,7 +500,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
 	}
 
 	// check accelerometer delta velocity bias estimates
-	param_get(param_find("COM_ARM_IMU_AB"), &test_limit);
+	param_get(param_find("COM_ARM_EKF_AB"), &test_limit);
 	if (fabsf(status.states[13]) > test_limit ||  fabsf(status.states[14]) > test_limit || fabsf(status.states[15]) > test_limit) {
 		if (report_fail) {
 			mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HIGH IMU ACCEL BIAS");
@@ -510,7 +510,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
 	}
 
 	// check gyro delta angle bias estimates
-	param_get(param_find("COM_ARM_IMU_GB"), &test_limit);
+	param_get(param_find("COM_ARM_EKF_GB"), &test_limit);
 	if (fabsf(status.states[10]) > test_limit ||  fabsf(status.states[11]) > test_limit || fabsf(status.states[12]) > test_limit) {
 		if (report_fail) {
 			mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF HIGH IMU GYRO BIAS");

src/modules/commander/commander_params.c

@@ -527,11 +527,11 @@ PARAM_DEFINE_FLOAT(COM_ARM_EKF_YAW, 0.5f);
  * @group Commander
  * @unit m/s
  * @min 0.001
- * @max 0.004
+ * @max 0.01
  * @decimal 4
  * @increment 0.0005
  */
-PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 2.0e-3f);
+PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 5.0e-3f);
 
 /**
  * Maximum value of EKF gyro delta angle bias estimate that will allow arming
@@ -539,11 +539,11 @@ PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 2.0e-3f);
  * @group Commander
  * @unit rad
  * @min 0.0001
- * @max 0.0007
+ * @max 0.0017
  * @decimal 5
- * @increment 0.00005
+ * @increment 0.0001
  */
-PARAM_DEFINE_FLOAT(COM_ARM_EKF_GB, 3.5e-4f);
+PARAM_DEFINE_FLOAT(COM_ARM_EKF_GB, 8.7e-4f);
 
 /**
  * Maximum accelerometer inconsistency between IMU units that will allow arming