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Merge branch 'amorale/OP-975_calibration_process_changes' into corvuscorax/OP-1161_magnetometer-alarm
Conflicts: ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp
This commit is contained in:
Corvus Corax
commit
29cef5876d
@ -29,6 +29,7 @@
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#include <attitudesettings.h>
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#include "extensionsystem/pluginmanager.h"
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#include <gyrostate.h>
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#include <gyrosensor.h>
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#include <revocalibration.h>
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#include <accelgyrosettings.h>
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#include "calibration/gyrobiascalibrationmodel.h"
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@ -67,6 +68,7 @@ void GyroBiasCalibrationModel::start()
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attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
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attitudeSettings->setData(attitudeSettingsData);
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attitudeSettings->updated();
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displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED);
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displayInstructions(tr("Calibrating the gyroscopes. Keep the copter/plane steady..."), true);
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@ -74,19 +76,33 @@ void GyroBiasCalibrationModel::start()
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gyro_accum_y.clear();
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gyro_accum_z.clear();
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UAVObject::Metadata mdata;
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gyro_state_accum_x.clear();
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gyro_state_accum_y.clear();
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gyro_state_accum_z.clear();
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UAVObject::Metadata metadata;
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GyroState *gyroState = GyroState::GetInstance(getObjectManager());
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Q_ASSERT(gyroState);
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initialGyroStateMdata = gyroState->getMetadata();
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mdata = initialGyroStateMdata;
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UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
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mdata.flightTelemetryUpdatePeriod = 100;
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gyroState->setMetadata(mdata);
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metadata = initialGyroStateMdata;
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UAVObject::SetFlightTelemetryUpdateMode(metadata, UAVObject::UPDATEMODE_PERIODIC);
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metadata.flightTelemetryUpdatePeriod = 100;
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gyroState->setMetadata(metadata);
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UAVObject::Metadata gyroSensorMetadata;
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GyroSensor *gyroSensor = GyroSensor::GetInstance(getObjectManager());
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Q_ASSERT(gyroSensor);
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initialGyroSensorMdata = gyroSensor->getMetadata();
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gyroSensorMetadata = initialGyroSensorMdata;
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UAVObject::SetFlightTelemetryUpdateMode(gyroSensorMetadata, UAVObject::UPDATEMODE_PERIODIC);
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gyroSensorMetadata.flightTelemetryUpdatePeriod = 100;
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gyroSensor->setMetadata(gyroSensorMetadata);
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// Now connect to the accels and mag updates, gather for 100 samples
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collectingData = true;
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connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
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connect(gyroSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
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}
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/**
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@ -105,9 +121,20 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj)
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Q_ASSERT(gyroState);
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GyroState::DataFields gyroStateData = gyroState->getData();
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gyro_accum_x.append(gyroStateData.x);
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gyro_accum_y.append(gyroStateData.y);
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gyro_accum_z.append(gyroStateData.z);
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gyro_state_accum_x.append(gyroStateData.x);
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gyro_state_accum_y.append(gyroStateData.y);
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gyro_state_accum_z.append(gyroStateData.z);
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break;
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}
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case GyroSensor::OBJID:
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{
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GyroSensor *gyroSensor = GyroSensor::GetInstance(getObjectManager());
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Q_ASSERT(gyroSensor);
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GyroSensor::DataFields gyroSensorData = gyroSensor->getData();
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gyro_accum_x.append(gyroSensorData.x);
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gyro_accum_y.append(gyroSensorData.y);
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gyro_accum_z.append(gyroSensorData.z);
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break;
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}
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default:
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@ -115,17 +142,21 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj)
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}
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// Work out the progress based on whichever has less
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double p1 = (double)gyro_accum_x.size() / (double)LEVEL_SAMPLES;
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double p1 = (double)gyro_state_accum_x.size() / (double)LEVEL_SAMPLES;
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double p2 = (double)gyro_accum_y.size() / (double)LEVEL_SAMPLES;
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progressChanged(((p1 < p2) ? p1 : p2) * 100);
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progressChanged(((p1 > p2) ? p1 : p2) * 100);
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if (gyro_accum_y.size() >= LEVEL_SAMPLES &&
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if ((gyro_accum_y.size() >= LEVEL_SAMPLES || (gyro_accum_y.size() == 0 && gyro_state_accum_y.size() >= LEVEL_SAMPLES)) &&
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collectingData == true) {
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collectingData = false;
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GyroState *gyroState = GyroState::GetInstance(getObjectManager());
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disconnect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
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Q_ASSERT(gyroState);
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GyroSensor *gyroSensor = GyroSensor::GetInstance(getObjectManager());
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Q_ASSERT(gyroSensor);
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disconnect(gyroSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
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enableAllCalibrations();
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@ -138,11 +169,17 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj)
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AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData();
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revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_TRUE;
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// Update biases based on collected data
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_accum_x);
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_accum_y);
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_accum_z);
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// check whether the board does supports gyroSensor(updates were received)
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if (gyro_accum_x.count() < LEVEL_SAMPLES / 10) {
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_state_accum_x);
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_state_accum_y);
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_state_accum_z);
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} else {
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_accum_x);
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_accum_y);
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_accum_z);
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}
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revoCalibration->setData(revoCalibrationData);
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revoCalibration->updated();
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@ -157,6 +194,7 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj)
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attitudeSettings->updated();
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gyroState->setMetadata(initialGyroStateMdata);
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gyroSensor->setMetadata(initialGyroSensorMdata);
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displayInstructions(tr("Gyroscope calibration computed succesfully."), false);
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displayVisualHelp(CALIBRATION_HELPER_IMAGE_EMPTY);
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@ -61,7 +61,11 @@ private:
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QList<double> gyro_accum_x;
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QList<double> gyro_accum_y;
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QList<double> gyro_accum_z;
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QList<double> gyro_state_accum_x;
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QList<double> gyro_state_accum_y;
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QList<double> gyro_state_accum_z;
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UAVObject::Metadata initialGyroStateMdata;
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UAVObject::Metadata initialGyroSensorMdata;
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UAVObjectManager *getObjectManager();
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};
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}
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@ -62,7 +62,7 @@ void LevelCalibrationModel::start()
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attitudeState->setMetadata(mdata);
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/* Show instructions and enable controls */
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displayInstructions(tr("Place horizontally and click save position..."), true);
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displayInstructions(tr("Place horizontally and click Save Position button..."), true);
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displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED);
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disableAllCalibrations();
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savePositionEnabledChanged(true);
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@ -130,7 +130,7 @@ void LevelCalibrationModel::getSample(UAVObject *obj)
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rot_data_pitch = OpenPilot::CalibrationUtils::listMean(rot_accum_pitch);
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rot_data_roll = OpenPilot::CalibrationUtils::listMean(rot_accum_roll);
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displayInstructions(tr("Leave horizontally, rotate 180° along yaw axis and click save position..."), false);
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displayInstructions(tr("Leave horizontally, rotate 180° along yaw axis and click Save Position button..."), false);
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displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_SWD);
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disableAllCalibrations();
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@ -51,31 +51,31 @@ SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) :
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calibrationStepsMag.clear();
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calibrationStepsMag
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<< CalibrationStep(CALIBRATION_HELPER_IMAGE_NED,
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tr("Place horizontally, nose pointing north and click save position..."))
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tr("Place horizontally, nose pointing north and click Save Position button..."))
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<< CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN,
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tr("Place with nose down, right side west and click save position..."))
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tr("Place with nose down, right side west and click Save Position button..."))
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<< CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS,
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tr("Place right side down, nose west and click save position..."))
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tr("Place right side down, nose west and click Save Position button..."))
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<< CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU,
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tr("Place upside down, nose east and click save position..."))
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tr("Place upside down, nose east and click Save Position button..."))
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<< CalibrationStep(CALIBRATION_HELPER_IMAGE_USE,
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tr("Place with nose up, left side north and click save position..."))
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tr("Place with nose up, left side north and click Save Position button..."))
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<< CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW,
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tr("Place with left side down, nose south and click save position..."));
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tr("Place with left side down, nose south and click Save Position button..."));
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calibrationStepsAccelOnly.clear();
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calibrationStepsAccelOnly << CalibrationStep(CALIBRATION_HELPER_IMAGE_NED,
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tr("Place horizontally and click save position..."))
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tr("Place horizontally and click Save Position button..."))
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<< CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN,
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tr("Place with nose down and click save position..."))
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tr("Place with nose down and click Save Position button..."))
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<< CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS,
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tr("Place right side down and click save position..."))
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tr("Place right side down and click Save Position button..."))
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<< CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU,
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tr("Place upside down and click save position..."))
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tr("Place upside down and click Save Position button..."))
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<< CalibrationStep(CALIBRATION_HELPER_IMAGE_USE,
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tr("Place with nose up and click save position..."))
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tr("Place with nose up and click Save Position button..."))
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<< CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW,
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tr("Place with left side down and click save position..."));
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tr("Place with left side down and click Save Position button..."));
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}
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/********** Six point calibration **************/
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@ -7,7 +7,7 @@
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<x>0</x>
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<y>0</y>
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<width>836</width>
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<height>596</height>
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<height>605</height>
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</rect>
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</property>
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<property name="windowTitle">
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@ -110,34 +110,34 @@
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<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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p, li { white-space: pre-wrap; }
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</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
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</style></head><body style=" font-family:'Ubuntu'; font-size:9pt; font-weight:400; font-style:normal;">
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<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;">
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<tr>
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<td style="border: none;">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:16pt; font-weight:600; font-style:italic;">Help</span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Following steps #1, #2 and #3 are necessary. Step #4 is optional, it may helps you achieve the best possible results.</span></p>
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<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p>
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<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"><br /></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">#1: Multi-Point calibration</span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for Magnetometer or Accelerometer sensors. </span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Press &quot;Calibrate Mag&quot; or &quot;Calibrate Accel&quot; to begin calibration, and follow the instructions which will be displayed here. </span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">For optimal calibration perform the Accel calibration with the board not mounted to the craft. in this way you can accurately level the board on your desk/table during the process. </span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Magnetometer calibration need to be performed inside your plane/copter to account for metal/magnetic stuffs on board.</span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600; font-style:italic;">Note 1:</span><span style=" font-family:'Ubuntu'; font-size:11pt;"> Your </span><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">HomeLocation must be set first</span><span style=" font-family:'Ubuntu'; font-size:11pt;">, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600; font-style:italic;">Note 2:</span><span style=" font-family:'Ubuntu'; font-size:11pt;"> There is no need to point exactly at South/North/West/East. They are just used to easily tells the user how to point the plane/craft. </span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">You can simply assume that North is in front of you, right is East etc. and perform the calibration this way.</span></p>
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<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">#2: Board level calibration</span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step will ensure that board leveling is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p>
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<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p>
|
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">#3: Gyro Bias calculation</span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step allows to calibrate the gyro measured value when the board is steady. To perform the calibration leave the board/aircraft completely steady and click start. </span></p>
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<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p>
|
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">#4: Thermal Calibration</span></p>
|
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">The calibration will compute sensors bias variations at different temperatures while the board warms up.</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This allow a certain amount of correction of those bias variations against temperature changes. It does improve both altitude hold and yaw performances.</span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">To perform this calibration leave the board to cool down at room temperature in the coldest places available. after 15-20 minutes attach the usb connector to the board and Click the Calibrate button leaving the board steady. Wait until completed</span></p>
|
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<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p></td></tr></table></body></html></string>
|
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:16pt; font-weight:600; font-style:italic;">Help</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">Following steps #1, #2 and #3 are necessary. Step #4 is optional, it may helps you achieve the best possible results.</span></p>
|
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<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;"><br /></p>
|
||||
<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:8pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:14pt; font-weight:600; font-style:italic;">#1: Multi-Point calibration</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">This calibration will compute the scale for Magnetometer or Accelerometer sensors. </span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">Press &quot;Calibrate Mag&quot; or &quot;Calibrate Accel&quot; to begin calibration, and follow the instructions which will be displayed here. </span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">For optimal calibration perform the Accel calibration with the board not mounted to the craft. in this way you can accurately level the board on your desk/table during the process. </span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">Magnetometer calibration need to be performed inside your plane/copter to account for metal/magnetic stuffs on board.</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt; font-weight:600; font-style:italic;">Note 1:</span><span style=" font-size:11pt;"> Your </span><span style=" font-size:11pt; font-weight:600;">HomeLocation must be set first</span><span style=" font-size:11pt;">, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt; font-weight:600; font-style:italic;">Note 2:</span><span style=" font-size:11pt;"> There is no need to point exactly at South/North/West/East. They are just used to easily tells the user how to point the plane/craft. </span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">You can simply assume that North is in front of you, right is East etc. and perform the calibration this way.</span></p>
|
||||
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:14pt; font-weight:600; font-style:italic;">#2: Board level calibration</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">This step will ensure that board leveling is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p>
|
||||
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:14pt; font-weight:600; font-style:italic;">#3: Gyro Bias calculation</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">This step allows to calibrate the gyro measured value when the board is steady. To perform the calibration leave the board/aircraft completely steady and click start. </span></p>
|
||||
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:14pt; font-weight:600; font-style:italic;">#4: Thermal Calibration</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">The calibration will compute sensors bias variations at different temperatures while the board warms up.</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">This allow a certain amount of correction of those bias variations against temperature changes. It does improve both altitude hold and yaw performances.</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">To perform this calibration leave the board to cool down at room temperature in the coldest places available. after 15-20 minutes attach the usb connector to the board and Click the Calibrate button leaving the board steady. Wait until completed</span></p>
|
||||
<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;"><br /></p></td></tr></table></body></html></string>
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|
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Loading…
x
Reference in New Issue
Block a user