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Make some clarifications regarding imu check in troubleshooting

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Oleg Kalachev 2025-02-18 10:18:27 +03:00
parent 9566a4a503
commit e3c6a0d4df
1 changed files with 4 additions and 2 deletions
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docs/troubleshooting.md
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@ -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.