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57 lines
2.7 KiB
Markdown
57 lines
2.7 KiB
Markdown
# Accelerometer Calibration
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PX4를 처음 사용하거나, 비행 콘트롤러의 방향이 변경된 경우에는 가속도계를 보정하여야 합니다. 기존 장비를 계속 사용하는 경우에는 보정 작업이 필요하지 않습니다.
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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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## 보정 절차
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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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보정 절차는 다음과 같습니다:
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1. Start _QGroundControl_ and connect the vehicle.
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2. Select **"Q" icon > Vehicle Setup > Sensors** (sidebar) to open _Sensor Setup_.
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3. 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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미리 설정하지 않았다면, 여기에서 설정할 수 있습니다.
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:::
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4. Click **OK** to start the calibration.
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5. 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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현재 방향에 대해 보정이 완료되면 화면의 그림이 녹색으로 바뀝니다.
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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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각 축이 보정 단계별로 어느 시점에 대부분 위아래를 가리키고, 차량이 고정되어 있으면 정확한 방향은 중요하지 않습니다.
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:::
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6. 드론의 모든 방향에 대해 보정 과정을 반복합니다.
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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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그런 다음 다음 센서의 보정 작업을 진행합니다.
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## 추가 정보
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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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