Method consistent

libraries/AP_Compass/AP_Compass.cpp:2182–2219

}

bool Compass::consistent() const
{
    const Vector3f &primary_mag_field { get_field() };
    const Vector2f &primary_mag_field_xy { primary_mag_field.xy() };

    for (uint8_t i=0; i<get_count(); i++) {
        if (!use_for_yaw(i)) {
            // configured not-to-be-used
            continue;
        }

        const Vector3f &mag_field = get_field(i);
        const Vector2f &mag_field_xy = mag_field.xy();

        if (mag_field_xy.is_zero()) {
            return false;
        }

        // check for gross misalignment on all axes
        const float xyz_ang_diff  = mag_field.angle(primary_mag_field);
        if (xyz_ang_diff > AP_COMPASS_MAX_XYZ_ANG_DIFF) {
            return false;
        }

        // check for an unacceptable angle difference on the xy plane
        const float xy_ang_diff  = mag_field_xy.angle(primary_mag_field_xy);
        if (xy_ang_diff > AP_COMPASS_MAX_XY_ANG_DIFF) {
            return false;
        }

        // check for an unacceptable length difference on the xy plane
        const float xy_len_diff = (primary_mag_field_xy-mag_field_xy).length();
        if (xy_len_diff > AP_COMPASS_MAX_XY_LENGTH_DIFF) {
            return false;
        }
    }
    return true;
}

bool Compass::healthy(uint8_t i) const
{