88d623bedb
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2.3 KiB
IMU/Compass Factory Calibration
PX4 OEM manufacturers can perform an IMU and compass factory calibration in order to store values for the accelerometer, gyroscope and magnetometer calibration into persistent storage (usually EEPROM). This ensures that end users can always reset vehicle configurations and tuning to a safe state for flying.
This procedure will write the following parameters to /fs/mtd_caldata: CAL_ACC*, CAL_GYRO*, CAL_MAG*.
This data will then be used when the parameters are set (or reset) to their default values.
:::warning
This feature relies on the FMU having a dedicated EEPROM chip or an accompanying IMU PCBA that has sufficient space for the data.
PX4 will store the data to /fs/mtd_caldata, creating the file if necessary.
:::
:::info These values cannot be stored in the frame configuration because they vary from device to device (the frame configuration defines the set of parameters that are applicable across all vehicles of the same type, such as the enabled sensors, autopilot rotation and PID tuning). :::
Performing the Factory Calibration
- Set the parameter SYS_FAC_CAL_MODE to 1.
- Perform all IMU calibrations: accelerometer, gyroscope and magnetometer.
- 기체를 재부팅합니다.
This will write all
CAL_ACC*,CAL_GYRO*andCAL_MAG*parameters into/fs/mtd_caldata. - Set the parameter
SYS_FAC_CAL_MODEback to 0 (default).
:::info If you only want to factory calibrate the accelerometer and the gyroscope you can set SYS_FAC_CAL_MODE to 2, in which case the magnetometer is omitted. :::
Subsequent user calibrations will then take effect as usual (factory calibration data is only used for the parameter default values).