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Add level calibration

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This commit is contained in:
Oleg Kalachev
2025-12-26 08:17:59 +03:00
parent 13a7e67b92
commit 4d70018d73
2 changed files with 8 additions and 0 deletions
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1
flix/cli.ino
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@@ -42,6 +42,7 @@ const char* motd =
"log [dump] - print log header [and data]\n"
"cr - calibrate RC\n"
"ca - calibrate accel\n"
"cl - calibrate level\n"
"mfr, mfl, mrr, mrl - test motor (remove props)\n"
"sys - show system info\n"
"reset - reset drone's state\n"

7
flix/imu.ino
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@@ -44,6 +44,13 @@ void readIMU() {
gyro = Quaternion::rotateVector(gyro, rotation.inversed());
}
void calibrateLevel() {
print("Place perfectly level [1 sec]\n");
pause(1);
Quaternion correction = Quaternion::fromBetweenVectors(Quaternion::rotateVector(Vector(0, 0, 1), attitude), Vector(0, 0, 1));
imuRotation = Quaternion::rotate(correction, Quaternion::fromEuler(imuRotation)).toEuler();
print("✓ Done: %.3f %.3f %.3f\n", degrees(imuRotation.x), degrees(imuRotation.y), degrees(imuRotation.z));
}
void calibrateGyroOnce() {
static Delay landedDelay(2);