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  1. LP-590

Accelerometer & Gyro Calibration Produces invalid (shifted from "0") results when BoardLevelTrim and accel/gyro_bias have non-zero values on start of calibration

    Details

    • Type: Bug
    • Status: Resolved
    • Priority: Medium
    • Resolution: Fixed
    • Affects versions: REL-16.09 - Black Rhino, future_release
    • Fix versions: future_release
    • Components: None
    • Labels:
      None
    • Sprint:

      Description

      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 non-zero values and with accel_bias / gyro_bias x,y,z also non-zero 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.

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            • Assignee:
              f5soh Lalanne Laurent
              Reporter:
              jdl Julian Lilov
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              • Created:
                Updated:
                Resolved: