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52 lines
2.5 KiB
Markdown
52 lines
2.5 KiB
Markdown
# Accelerometer Calibration
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The accelerometer must be calibrated on first use or if the flight controller orientation is changed.
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Otherwise it should not need to recalibrated (except perhaps in winter, if the flight controller was not [thermally calibrated](../advanced_config/sensor_thermal_calibration.md) in the factory).
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::: info
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Poor accelerometer calibration is generally caught by preflight checks and arming-denied messages (QGC warnings typically refer to "high accelerometer bias" and "consistency check failures").
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:::
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:::tip
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This is similar to [compass calibration](../config/compass.md) except that you hold the vehicle still (rather than rotate it) in each orientation.
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:::
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## Performing the Calibration
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_QGroundControl_ will guide you to place and hold your vehicle in a number of orientations (you will be prompted when to move between positions).
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The calibration steps are:
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1. Start _QGroundControl_ and connect the vehicle.
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1. Select **"Q" icon > Vehicle Setup > Sensors** (sidebar) to open _Sensor Setup_.
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1. Click the **Accelerometer** sensor button.
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::: info
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You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md).
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If not, you can also set it here.
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:::
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1. Click **OK** to start the calibration.
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1. Position the vehicle as guided by the _images_ on the screen.
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Once prompted (the orientation-image turns yellow) hold the vehicle still.
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Once the calibration is complete for the current orientation the associated image on the screen will turn green.
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::: info
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The calibration uses a least squares 'fit' algorithm that doesn't require you to have "perfect" 90 degree orientations.
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Provided each axis is pointed mostly up and down at some time in the calibration sequence, and the vehicle is held stationary, the precise orientation doesn't matter.
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:::
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1. Repeat the calibration process for all vehicle orientations.
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Once you've calibrated the vehicle in all the positions _QGroundControl_ will display _Calibration complete_ (all orientation images will be displayed in green and the progress bar will fill completely).
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You can then proceed to the next sensor.
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## Further Information
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- [QGroundControl User Guide > Sensors](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors_px4.html#accelerometer)
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- [PX4 Setup Video - @1m46s](https://youtu.be/91VGmdSlbo4?t=1m46s) (Youtube)
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