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docs: add gyro calibration snippet

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This commit is contained in:
Oleg Kalachev
2020-03-18 21:52:06 +03:00
parent 461f4f5904
commit bbcf75b806
4 changed files with 71 additions and 3 deletions
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docs/en/optical_flow.md
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@@ -74,7 +74,7 @@ navigate(x=1.5, frame_id='body')
<!-- TODO: статья по пидам -->
If the copter has an unstable position using VPE, try to increase the *P* coefficient of speed PID controller - parameters are `MPC_XY_VEL_P` and `MPC_Z_VEL_P`.
If the copter has an unstable position, try to increase the *P* coefficient of speed PID controller - parameters are `MPC_XY_VEL_P` and `MPC_Z_VEL_P`.
If the copter has an unstable height, try increasing `MPC_Z_VEL_P` coefficient or getting better hover throttle - `MPC_THR_HOVER`.
@@ -85,6 +85,8 @@ If the copter is consistently yawing, try:
* different values for `EKF2_MAG_TYPE` parameter, that indicates how data from the magnetometer is used in EKF2;
* changing values of `EKF2_MAG_NOISE`, `EKF2_GYR_NOISE`, `EKF2_GYR_B_NOISE` parameters.
> **Note** For better results perform gyro calibration directly before taking off, using [appropriate snippet](snippets.md#calibrate-gyro).
If the copter's height is deviating, try:
* increasing the value of `MPC_Z_VEL_P` coefficient;