Copyright © 2019 Xflight Technologies LLC, Florida, USA
17
AHRS Calibration
For tailwheel aircraft make sure that the tail is lifted up, so the aircraft is straight and level to the
horizon, as it would be flying.
When on the ground touching the center yellow reference plane will calibrate the AHRS to
straight & level (AP OFF mode).
This can also be done from the Mission Planner. Make sure the aircraft is straight and level.
Use the top left navigation buttons and select
<INITIAL SETUP>
and select
<Accel Calibration>.
Hit the
<Calibrate Level>
button. This will automatically update the
AHRS_TRIM_X
and
AHRS_TRIM_Y
parameters for you. Navigate to
<FLIGHT DATA>
and you should see a properly
leveled AHRS display.
These parameters can also be edited directly:
Use the top left navigation buttons and select
<CONFIG/TUNING>
to view the parameters. Then
use the left option list to select
<Full Parameter Tree>.
Under the AHRS section you will find the
AHRS_TRIM
parameters (see screenshot). These fine tune the AHRS to straight and level (as the
Flight Controller may not be installed perfectly flat). Once you make a change be sure to click
the
<Write Params>
button on the right to save the changes to the Flight Controller. The
Mission Planner AHRS display under
<Flight Data>
will update in real-time as these parameters
are written. Make sure this appears straight and level, with the red reference plane at the
horizon. It is also advisable to take a backup copy of all parameters with
<Save to file>
. It is
