From e3c6a0d4df6452c0ae28f4368fbc7a76bf567ec7 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 18 Feb 2025 10:18:27 +0300 Subject: [PATCH] Make some clarifications regarding imu check in troubleshooting --- docs/troubleshooting.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md index 2df0d6b..fb1b466 100644 --- a/docs/troubleshooting.md +++ b/docs/troubleshooting.md @@ -17,8 +17,10 @@ Do the following: * **Check if the CLI is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. * **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**. * **Make sure you're not moving the drone several seconds after the power on**. The drone calibrates its gyroscope on the start so it should stay still for a while. -* **Check the IMU sample rate**. Perform `imu` command. The `rate` field should be about 1000 (Hz). -* **Check the IMU data**. Perform `imu` command, check raw accelerometer and gyro output. The output should change as you move the drone. +* **Check the IMU is working**. Perform `imu` command and check its output: + * The `status` field should be `OK`. + * The `rate` field should be about 1000 (Hz). + * The `accel` and `gyro` fields should change as you move the drone. * **Calibrate the accelerometer.** if is wasn't done before. Type `ca` command in Serial Monitor and follow the instructions. * **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. * **Check the IMU orientation is set correctly**. If the attitude estimation is rotated, make sure `rotateIMU` function is defined correctly in `imu.ino` file.