AP_InertialSensor: use accels and gyros with lowest number of errors as primary #19641
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Also prevent integer overflow rather than attempting to correct for it. This prevents a bug where we reset the error score to zero rather than to some positive value on integer overflow. Selecting the lowest error score would seem to be a better solution than preferentially selecting one with zero errors.
andyp1per
approved these changes
Dec 31, 2021
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Current behaviour is to only preferentially select a sensor if it has no errors.
This should be better in that:
This could be better still be refusing to increment an error score if another sensor has already hit its incremement limit and we would have the same value as it after incremement. OTOH, if your sensors are doing this to you then it really probably isn't going to help.
Drawbacks: