IMU

This menu allows the user to recalibrate the IMU, as they are factory calibrated, to correct any bias in the IMU calibration, including mounting offsets.

Note

Note that Autopilot 1x will need to enter Maintenance Mode and be restarted to modify its calibration values. After each calibration process, these confirmation panels will pop up:

There are 2 calibration options available:

• 2D Calibration: Only calibrates pitch and roll angles.

  Calibration Explanation

  The process collects accelerometer data while the platform is in a horizontal position. The system calculates an average vector from the measured gravity and compares it to an ideal gravity vector to compute a rotation matrix. This matrix corrects for deviations in the pitch and roll angles.

  Warning

  Before the calibration process starts, a panel pops up warning the user that the platform must be in a horizontal position during the calibration process.

  

  

  Warning

  Autopilot 1x will restart when the calibration is done.

• 3D Calibration: Calibrates pitch, roll and yaw angles and it needs to take measurements in two orientations.

  Note

  Rotation nomenclature is defined according to the Axes - Software applications section of the 1x Software Manual.

  Calibration Explanation

  This method performs the same process as the 2D calibration twice: once with the platform horizontal, and a second time with the platform tilted more than 10 degrees on a selected axis. By using two non-collinear measurements, the system can compute a more complete rotation matrix that corrects not only for pitch and roll, but also for yaw.

  • Before the calibration process starts, a panel pops up warning the user about the movement requirements of the procedure.

    

  • During the first measurement the platform must be horizontal:

    

  • The second measurement requires to tilt the platform around the selected axis and keep it still.

    The options are: Pitch positive, Pitch negative, Roll positive or Roll negative.

    Note

    To complete the 3D calibration, you only need to take the measurement in one of the four possible orientations. It is not necessary to go through all the available options.

    

    Once the rotation axis has been selected, click on 'Continue' to perfom this second measurement:

    Warning

    The autopilot will restart when the calibration is done.

    

  Warning

  The platform must be turned more than 10 degrees in the selected axis. Otherwise, the calibration will not be performed and the following message will appear to reset the calibration:

  

• Settings:

  • Calibration time: Users can modify the time during which the software is requesting values from the Autopilot 1x for calibration.
  • Accelorometer Rotation Matrix: This rotation matrix is the result of the calibration performed. Cannot be modified by the user.

  • Reset Calibration: This button will delete the current calibration on the connected Autopilot 1x. The user must confirm this operation in the following panel:

    

  Warning

  The autopilot will restart when the reset is done.