30 replies to this topic

[alconaft43]

So, finally, just to make things clear - In case option "Zero gyro bias upon arming" is enabled, should we keep CC board steady for the several seconds after powering it up or not?

[Berkely]

osnwt, on 30 June 2011 - 09:27 PM, said:

James will say that you have to list those "why you're doing it" first
If there are real use cases then it might be implemented.

My "real case" why I do not want gyro's to calibrate at start up, at least when I'm not at home  

 Sea trials_small.png   553.92K   48 downloads

OpenPilot is a versatile project, it handles already quite some situations. Above reason may be another one.

[osnwt]

Berkely, on 01 July 2011 - 12:38 PM, said:

My "real case" why I do not want gyro's to calibrate at start up, at least when I'm not at home  

In such case you won't gyro's to calibrate at all, at least, when you're not at home. It does not matter are they calibrated on power up or when you arm the system if you unable to have it still.

[Berkely]

osnwt, on 01 July 2011 - 03:06 PM, said:

In such case you won't gyro's to calibrate at all, at least, when you're not at home. It does not matter are they calibrated on power up or when you arm the system if you unable to have it still.

Exactly, My scenario would be:

• Calibrate Gyro/ACC on stable ground...
  
• Save values...
  
• Hope for the best, that's it. Any new calibration would be worse than the saved one.

[StarRider]

alconaft43, on 01 July 2011 - 07:21 AM, said:

So, finally, just to make things clear - In case option "Zero gyro bias upon arming" is enabled, should we keep CC board steady for the several seconds after powering it up or not?

Hi,

So what's the verdict on this one ?

PA

[alconaft43]

StarRider, on 29 September 2011 - 11:25 PM, said:

Hi,

So what's the verdict on this one ?

PA

You must have CC stable after 7 sec after powering up. I really don't like this behavior and prefer MK way, because it much more convenient to connect battery holding CC in hands and after that install it on the steady ground/takeoff location and initialize board. Also the option "Zero gyro bias upon arming" is useless if you want to hand launch quadro and have "motors running when armed" option enabled. But it look like I need to take in hand compiler to change this

[StarRider]

alconaft43, on 03 October 2011 - 12:32 PM, said:

You must have CC stable after 7 sec after powering up. I really don't like this behavior and prefer MK way, because it much more convenient to connect battery holding CC in hands and after that install it on the steady ground/takeoff location and initialize board. Also the option "Zero gyro bias upon arming" is useless if you want to hand launch quadro and have "motors running when armed" option enabled. But it look like I need to take in hand compiler to change this

Hi,

Thanks, indeed, I also prefer the MK behavior.
I'm setup to compile the firmware, as you said,  gone try to change this"

Regards,

PA

[peabody124]

Honestly you might just try moving it and see how much worse it flies.  The "zero bias on arming" should wipe out most of the affect of any movement.  It also ignores the first second after being powered up.  Finally it's really only yawing that would cause any problem.

So basically you can move it a fair bit and pretty much be fine.  I generally do.  But saying wait 7 seconds and don't move it is just the simplest.

[Ivan]

I would have had over 100 flights at least of CC now. I havent had any issue with gyro bias being a problem since the zero gyro on arm feature was added.

[agrath]

If I have zero gyro on arming set, does it zero the gyro when I first connect the battery and then again when I arm it and each takes 7 secs?
I +1 the LED flashing idea and the small gyro delay.
It'd be quite cool if we could somehow "externalize" the led outputs, mine are hidden away inside a hard plastic protective case but I can still see them if I look on the right angle.

Gareth

[Berkely]

agrath, on 21 October 2011 - 04:33 AM, said:

If I have zero gyro on arming set, does it zero the gyro when I first connect the battery and then again when I arm it and each takes 7 secs?
I +1 the LED flashing idea and the small gyro delay.
It'd be quite cool if we could somehow "externalize" the led outputs, mine are hidden away inside a hard plastic protective case but I can still see them if I look on the right angle.

Gareth

Hi Gareth,

The first time it takes about ±7sec to calibrate after you have connected the battery, your aircraft should be still in this period, it's not necessary to hold it perfectly level, just still.  The 2nd time the gyro bias is calibrated during arming, this happens really fast. So whenever you land & perform a disarm-arm sequence then the gyro's are calibrated again.

See also thisexplanation in the wiki.