[Autopilot] IMU calibration

[Jean-Pierre D. <jpx...@wa...>]

Hi, All

I ve received my cerfboard, that the very goo d product, thanks for advise !

So now, I'm trying to calibrate "my" IMU width IMU.cpp hexa values.
I've a problem because the "artificial horizon" of the ground station 
isn't stable
I think the probem is with pqr setting because when I start ./flyer the  
horizon is always good positionning(in all configuration, normal left 
side, right side, bottom-up, front bottom...)  but after it turn left 
and bottom slowly.

when I change one bit of the of q or r, it's drift on the other side. do 
I need a more precise ADC, or parhaps can i do reduce range of pqr to 
increase precision( hard or soft )?

I thought that the IMU+ kalman converged in attitude and not in heading 
but it is the opposite !
There is a problem isn't it !


PS :I'have no magnetometer , and no gps


Please, help me

Regards,

Jean-Pierre