There are two types of accelerometer calibration available. Please
choose which type of calibration you would like.
Simple Accelerometer Calibration
A simple accelerometer calibration involves you placing your vehicle
on a level surface and pressing the button below. The calibration will
take just a few seconds. This type of calibration is good for most
users.
Six-Axis Accelerometer Calibration
A six axis accelerometer calibration involves you placing your vehicle
in each of 6 orientations in turn, as you are guided by the prompts
below. This type of calibration is good if you will be doing 3D
flying, or if you find that you get poor results with a simple
accelerometer calibration.
After a six-axis calibration you will need to power cycle your vehicle before you can fly.
Sensor State
Variable
Value
Roll
Pitch
Name
X
Y
Z
Sensor
Offsets
Scaling
Accelerometers (X, Y, Z)
Magnetometer calibration
There are two types of magnetometer calibration available. Please
choose which type of calibration you would like. A rotating
calibration is considerably more accurate, but takes longer.
Rotating Magnetometer calibration
To calibrate the magnetometer with a rotating calibration you will
need to move to a location well away from all metal. Then press the
button below to start calibration. Once started you will need to
rotate the vehicle about all axes.
A progress bar will display to show how far you are through the calibration.
After a magnetometer calibration you will need to power cycle your vehicle before you can fly.
Calibration progress:
Fixed Magnetometer calibration
To calibrate the magnetometer with a fixed calibration you will need
to place the drone level, pointing in a known direction as far from
any metal as possible, and supply your approximate latitude and
longitude. The calibrator will calculate the expected magnetic field
at that location and adjust your compass offsets to match the expected
earth magnetic field.
Latitude
Longitude
Direction
After a magnetometer calibration you will need to power cycle your vehicle before you can fly.
Sensor State
Variable
Value
Roll
Pitch
Yaw
Sensor
X
Y
Z
Magnetometer
Offsets
Magnetometer (X, Y, Z)
Compass/Motor Calibration
Calibrating the influence of motors on the magnetometer gives better
flight by reducing the impact of varying motor power on the observed
magnetic field.
This calibration must be run with the copter held down. It must be run
with the propellers fitted and will run all motors in
sequence. Make sure that it is safe to run the motors before
starting the calibration.
The calibration is completed when all four motors have run. The per-motor offsets in the table below will then update.
After calibrating you can test the calibration using the button
below. This will run the motors in the same way as a calibration, but
will use the learned values from the calibration. You can observe the
change in magnetometer response in the graph below.
During the test you should expect there to be a short spike in
magnetic field as the motors turn on and off.
Sensor State
Battery Voltage
--
Sensor
X
Y
Z
Magnetometer
Offsets
Motor1
Motor2
Motor3
Motor4
Magnetometer (X, Y, Z)
Combined Calibration
This calibration option is intended for factory use. It combines accelerometer,
magnetometer and per-motor calibration into a single operation. To use
it you must setup the drone as follows:
Drone must be level
Drone must be pointing in the direction (true heading) given
below in degrees
Lattitude and Longitude must be approximately as given below
The drone must not be near metal, so it must be on a plastic or
wooden table, well clear of metal objects (including table legs or
chairs)
The drone must be prevented from moving. A rubber mat should be
sufficient to provide enough friction to prevent movement.
You must keep your hands clear of the propellers as they will
spin for the per-motor magnetometer calibration
Calibration is complete when all 4 motors have spun for motor calibration
Latitude
Longitude
Direction
Field X
Field Y
Field Z
SSID
SerialNumber
Label
Sensor State
Battery Voltage
--
Variable
Value
Roll
Pitch
Name
X
Y
Z
Accelerometer
Offsets
Sensor
X
Y
Z
Magnetometer
Offsets
Motor1
Motor2
Motor3
Motor4
Magnetometer (X, Y, Z)
Barometer Calibration
The barometer is automatically calibrated for temperature variation
when the frame is sitting still and is disarmed. This is stored as an
exponent which is applied to the barometer correction curve with
temperature.
There are some cases where this calibration can learn an incorrect value,
especially when it learns in an area with varying pressure, such as an
air-conditioned room. In that case you can reset the calibration by
pressing the button below.
