The level calibration succeeded
InformationIMU: accelerometers, gyros, vibration
What ArduPilot says:
- Trim OK: roll=N.N pitch=N.N yaw=N.N
The numbers are the tilt, in degrees, between the flight controller and the airframe that ArduPilot will now subtract; they are stored in radians in AHRS_TRIM_X (roll) and AHRS_TRIM_Y (pitch). A degree or two is normal for a board on soft mounts. Several degrees suggest the aircraft was not level or the board sits crooked: level it and repeat. More than 10° is refused.
Parameters to look at
| Parameter | What it is |
|---|---|
AHRS_TRIM_X | AHRS Trim Roll |
AHRS_TRIM_Y | AHRS Trim Pitch |
Where to do it:Setup & Tuning Guide
The code that sends it
Trim OK: roll=N.N pitch=N.N yaw=N.N
libraries/AP_InertialSensor/AP_InertialSensor.cpp AP_InertialSensor::_calculate_trim() · Open in ArduPilot Copter-4.7.1