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Minor updates to usage article

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Oleg Kalachev
2026-02-04 17:52:23 +03:00
parent 3e49d41986
commit a8c25d8ac0
1 changed files with 13 additions and 11 deletions
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docs/usage.md
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@@ -148,27 +148,29 @@ Reboot the drone to apply the changes.
> [!CAUTION] > [!CAUTION]
> **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them. > **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them.
### Check everything works ### Important: check everything works
1. Check the IMU is working: perform `imu` command and check its output: 1. Check the IMU is working: perform `imu` command in the console and check the output:
* The `status` field should be `OK`. * The `status` field should be `OK`.
* The `rate` field should be about 1000 (Hz). * The `rate` field should be about 1000 (Hz).
* The `accel` and `gyro` fields should change as you move the drone. * The `accel` and `gyro` fields should change as you move the drone.
* The `accel bias` and `accel scale` fields should contain calibration parameters (not zeros and ones).
* The `gyro bias` field should contain estimated gyro bias (not zeros).
* The `landed` field should be `1` when the drone is still on the ground and `0` when you lift it up. * The `landed` field should be `1` when the drone is still on the ground and `0` when you lift it up.
2. Check the attitude estimation: connect to the drone using QGroundControl, rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct. Compare your attitude indicator (in the *large vertical* mode) to the video: 2. Check the attitude estimation: connect to the drone using QGroundControl, rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct. Compare your attitude indicator (in the *large vertical* mode) to the video:
<a href="https://youtu.be/yVRN23-GISU"><img width=300 src="https://i3.ytimg.com/vi/yVRN23-GISU/maxresdefault.jpg"></a> <a href="https://youtu.be/yVRN23-GISU"><img width=300 src="https://i3.ytimg.com/vi/yVRN23-GISU/maxresdefault.jpg"></a>
3. Perform motor tests in the console. Use the following commands **— remove the propellers before running the tests!** 3. Perform motor tests. Use the following commands **— remove the propellers before running the tests!**
* `mfr` — should rotate front right motor (counter-clockwise). * `mfr` — rotate front right motor (counter-clockwise).
* `mfl` — should rotate front left motor (clockwise). * `mfl` — rotate front left motor (clockwise).
* `mrl` — should rotate rear left motor (counter-clockwise). * `mrl` — rotate rear left motor (counter-clockwise).
* `mrr` — should rotate rear right motor (clockwise). * `mrr` — rotate rear right motor (clockwise).
Rotation diagram: Make sure rotation directions and propeller types match the following diagram:
<img src="img/motors.svg" width=200> <img src="img/motors.svg" width=200>
@@ -234,11 +236,11 @@ When finished flying, **disarm** the drone, moving the left stick to the bottom
### Flight modes ### Flight modes
Flight mode is changed using mode switch on the remote control or using the command line. Flight mode is changed using mode switch on the remote control (if configured) or using the console commands. The main flight mode is *STAB*.
#### STAB #### STAB
The default mode is *STAB*. In this mode, the drone stabilizes its attitude (orientation). The left stick controls throttle and yaw rate, the right stick controls pitch and roll angles. In this mode, the drone stabilizes its attitude (orientation). The left stick controls throttle and yaw rate, the right stick controls pitch and roll angles.
> [!IMPORTANT] > [!IMPORTANT]
> The drone doesn't stabilize its position, so slight drift is possible. The pilot should compensate it manually. > The drone doesn't stabilize its position, so slight drift is possible. The pilot should compensate it manually.
@@ -253,7 +255,7 @@ In this mode, the pilot controls the angular rates. This control method is diffi
#### AUTO #### AUTO
In this mode, the pilot inputs are ignored (except the mode switch, if configured). The drone can be controlled using [pyflix](../tools/pyflix/) Python library, or by modifying the firmware to implement the needed autonomous behavior. In this mode, the pilot inputs are ignored (except the mode switch). The drone can be controlled using [pyflix](../tools/pyflix/) Python library, or by modifying the firmware to implement the needed behavior.
If the pilot moves the control sticks, the drone will switch back to *STAB* mode. If the pilot moves the control sticks, the drone will switch back to *STAB* mode.