Add level calibration

.markdownlint.json

@@ -65,5 +65,6 @@
 			"PX4"
 		]
 	},
-	"MD045": false
+	"MD045": false,
+	"MD060": false
 }

docs/usage.md

@@ -96,7 +96,8 @@ To access the console using QGroundControl:
 
 1. Connect to the drone using QGroundControl app.
 2. Go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*.
-   <img src="img/cli.png" width="400">
+
+<img src="img/cli.png" width="400">
 
 > [!TIP]
 > Use `help` command to see the list of available commands.
@@ -122,7 +123,7 @@ Use the following table to set the parameters for common IMU orientations:
 |<img src="img/imu-rot-1.png" width="200">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 0    |<img src="img/imu-rot-5.png" width="200">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 0|
 |<img src="img/imu-rot-2.png" width="200">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 1.571|<img src="img/imu-rot-6.png" width="200">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = -1.571|
 |<img src="img/imu-rot-3.png" width="200">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 3.142|<img src="img/imu-rot-7.png" width="200">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 3.142|
-|<img src="img/imu-rot-4.png" width="200"><br><b style="text-align:center">☑️ Default</b>|<br>`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = -1.571|<img src="img/imu-rot-8.png" width="200">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 1.571|
+|<img src="img/imu-rot-4.png" width="200"><br>☑️ **Default**|<br>`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = -1.571|<img src="img/imu-rot-8.png" width="200">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 1.571|
 
 ### Calibrate accelerometer
 

flix/cli.ino

@@ -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"

flix/imu.ino

@@ -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);

gazebo/flix.h

@@ -22,6 +22,7 @@ Vector gyro;
 Vector rates;
 Quaternion attitude;
 bool landed;
+Vector imuRotation;
 
 // declarations
 void step();