Don't use inclinometer data in the pointing solution for angles outside of the sensor's valid range.
Details
Inclinometer data outside of +/- 60deg is invalid, but is not flagged as such by the sensor, and reported as +/-60. Without a validity check, above angles of 60deg, the inclinometer angle measurements will be constant regardless of angle. These measurements will disagree drastically from other elevation sensor data and pollute the pointing solution.
Makes inc_ok variable conditional on good communications with the sensor AND reading an abs value < 59.999 deg
Makes the evolution of the inc solutions using gyro data conditional on inc_ok
Reflects the truth that inc data is shared between both FCs, so it can be used in the pointing solution unconditional on SouthIAm
Adds visibility into inc_ok by adding range_valid_clinN telemetry variable
Summary
Don't use inclinometer data in the pointing solution for angles outside of the sensor's valid range.
Details
Inclinometer data outside of +/- 60deg is invalid, but is not flagged as such by the sensor, and reported as +/-60. Without a validity check, above angles of 60deg, the inclinometer angle measurements will be constant regardless of angle. These measurements will disagree drastically from other elevation sensor data and pollute the pointing solution.
inc_okvariable conditional on good communications with the sensor AND reading an abs value < 59.999 deginc_okSouthIAminc_okby addingrange_valid_clinNtelemetry variable