INS5_ parameters¶
17 parameters in the INS5_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.
INS5_ACCOFFS_X¶
Accelerometer offsets of X axis
Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
Units |
|
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS5_ACCOFFS_Y¶
Accelerometer offsets of Y axis
Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
Units |
|
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS5_ACCOFFS_Z¶
Accelerometer offsets of Z axis
Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
Units |
|
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS5_ACCSCAL_X¶
Accelerometer scaling of X axis
Accelerometer scaling of X axis. Calculated during acceleration calibration routine
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS5_ACCSCAL_Y¶
Accelerometer scaling of Y axis
Accelerometer scaling of Y axis Calculated during acceleration calibration routine
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS5_ACCSCAL_Z¶
Accelerometer scaling of Z axis
Accelerometer scaling of Z axis Calculated during acceleration calibration routine
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS5_ACC_CALTEMP¶
Calibration temperature for accelerometer
Temperature that the accelerometer was calibrated at
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS5_ACC_ID¶
Accelerometer ID
Accelerometer sensor ID, taking into account its type, bus and instance
Read only |
Yes |
User level |
Advanced |
INS5_GYROFFS_X¶
Gyro offsets of X axis
Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS5_GYROFFS_Y¶
Gyro offsets of Y axis
Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS5_GYROFFS_Z¶
Gyro offsets of Z axis
Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS5_GYR_CALTEMP¶
Calibration temperature for gyroscope
Temperature that the gyroscope was calibrated at
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS5_GYR_ID¶
Gyro ID
Gyro sensor ID, taking into account its type, bus and instance
Read only |
Yes |
User level |
Advanced |
INS5_POS_X¶
IMU accelerometer X position
X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Units |
|
Range |
|
Increment |
|
User level |
Advanced |
INS5_POS_Y¶
IMU accelerometer Y position
Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Units |
|
Range |
|
Increment |
|
User level |
Advanced |
INS5_POS_Z¶
IMU accelerometer Z position
Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Units |
|
Range |
|
Increment |
|
User level |
Advanced |
INS5_USE¶
Use first IMU for attitude, velocity and position estimates
Use first IMU for attitude, velocity and position estimates
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |