Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Document new settings for external mag alignment #2998

Merged
merged 1 commit into from
Apr 2, 2018
Merged

Document new settings for external mag alignment #2998

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions docs/Cli.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -230,6 +230,9 @@ Re-apply any new defaults as desired.
| align_board_roll | 0 | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc |
| align_board_pitch | 0 | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc |
| align_board_yaw | 0 | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc |
| align_mag_roll | 0 | Set the external mag alignment on the roll axis (in 0.1 degree steps). If this value is non-zero, the compass is assumed to be externally mounted and both the board and on-board compass alignent (align_mag) are ignored. See also align_mag_pitch and align_mag_yaw. |
| align_mag_pitch | 0 | Same as align_mag_roll, but for the pitch axis. |
| align_mag_yaw | 0 | Same as align_mag_roll, but for the yaw axis. |
| gyro_hardware_lpf | 42HZ | Hardware lowpass filter for gyro. Allowed values depend on the driver - For example MPU6050 allows 10HZ,20HZ,42HZ,98HZ,188HZ,256Hz (8khz mode). If you have to set gyro lpf below 42Hz generally means the frame is vibrating too much, and that should be fixed first. |
| moron_threshold | 32 | When powering up, gyro bias is calculated. If the model is shaking/moving during this initial calibration, offsets are calculated incorrectly, and could lead to poor flying performance. This threshold means how much average gyro reading could differ before re-calibration is triggered. |
| imu_dcm_kp | 2500 | Inertial Measurement Unit KP Gain for accelerometer measurements |
Expand Down