AHRSWidget 0 0 720 499 Form 0 Calibration QFrame::Box QFrame::Sunken 3 75 true #1: Six Point Calibration Nice paper plane, eh? false Launch a sensor range and bias calibration. Start false Save settings (only enabled when calibration is running) Save Position QFrame::Box QFrame::Sunken 3 75 true #2: Sensor noise calibration These are the sensor variance values computed by the AHRS. Tip: lower is better! Qt::ScrollBarAlwaysOff Qt::ScrollBarAlwaysOff false Press to start a calibration procedure, about 15 seconds. Hint: run this with engines at cruising speed. Start true 15 0 false QFrame::StyledPanel QFrame::Raised 3 75 true #3: Accelerometer Bias calibration false Start 0 false QFrame::StyledPanel QFrame::Raised 3 75 true #4 Gyro temperature drift calibration Temp: 9 Min Currently measured temperature on the system. This is actually the MB temperature, be careful if somehow you know that your INS temperature is very different from your MB temp... Qt::Horizontal QSlider::TicksBelow 9 Max Current drift: Saved drift: false Start gathering data for temperature drift calibration. Avoid sudden moves once you have started gathering! Start false Launch drift measurement based on gathered data. TODO: is this necessary? Measurement could be auto updated every second or so, or done when we stop measuring... Measure false Updates the XYZ drift values into the AHRS (saves to SD) Save Six Point Calibration instructions Qt::ScrollBarAlwaysOff <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;"> Help Step #1 and #2 are really necessary. Steps #3 and #4 will help you achieve the best possible results. #1: Six point calibration: This calibration will compute the scale for all sensors on the INS. Press "Start" to begin calibration, and follow the instructions which will be displayed here. #2: Sensor noise calibration: This calibration will compute sensor variance under standard conditions. You can leave your engines running at low to mid throttle to take their vibration into account before pressing "Start". #3: Accelerometer bias calibration: This step will ensure that accelerometer bias 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. #4 Gyro temp drift calibration: </body></html> Settings INS Algorithm: Select the sensor integration algorithm here. "Simple" only uses accelerometer values "INSGPS" the full featured algorithm integrating all sensors Qt::Horizontal 40 20 Home Location: false Saves the Home Location. This is only enabled if the Home Location is set, i.e. if the GPS fix is successful. Disabled if there is no GPS fix. Set true buttonGroup true Clears the HomeLocation: only makes sense if you save to SD. This will force the INS to use the next GPS fix as the new home location unless it is in indoor mode. Clear buttonGroup Qt::Vertical 20 40 Telemetry link not established. Qt::Horizontal 40 20 Refresh this screen with current values from the board. Request Save settings to the OP board (RAM only). This does not save the calibration settings, this is done using the specific calibration button on top of the screen. Save to RAM Send settings to OP board, and save to the microSD card. Save to SD false