Affects versions: REL-16.09 - Black Rhino, future_release
Fix versions: future_release
The issue is present for Revolution Flight Controller but may affect other FC aswell...
The initial accel/gyro calibration on freshly updated/erased board gives correct results. Subsequent accel/gyro calibrations on the already setup FC, i.e. with BoardLevelTrim.Roll/Pitch set to values and with accel_bias / gyro_bias x,y,z also will produce results that are bad (shifted from zero).
To reproduce the issue:
Get a fresh Revo FC with initially performed all calibrations (especially Accel / Gyro / BoardLevel). Set manually in Object Browser:
- Settings | AccelGyroSettings | gyro_bias.X = 1
- Settings | AccelGyroSettings | gyro_bias.Y = 100
- Settings | AccelGyroSettings | gyro_bias.Z = 1000
Perform Configuration | Attitude | Calibration | Gyro Bias Calibration | Start ....... Save
In the scopes Raw GyroState shows values for
- X: -23.6 deg/s
- Y: -6.6 deg/s
- Z: -0.2 deg/s
These values are far from expected +-0.1 deg/s.
If the initial gyro_bias.x / y / z are "0" OR BoardLevelTrim.Roll / Pitch are "0" then calibration results are correct.
Same applies to Accelerometer calibration.