Calibration Model

The STorM32 controller implements a relatively simple calibration model for the accelerometers and gyros.

Accelerometer

Each axis is converted as follows:

a = (a_meas - a_zero) * a_scale - a_offset

a_meas: value obtained form the IMU

a_zero: 'Acc Zero' calibration constant determined by calibration procedure

a_scale: 'Acc Scale' calibration constant determined by calibration procedure

a_offset: offset entered in the GUI ("Pitch Offset" or "Roll Offset" or "Yaw Offset")

Gyro

Each axis is converted as follows:

g = g_meas - g_zero

g_meas: value obtained form the IMU

g_zero: bias determined during gyro calibration at startup, or 'Gyro Zero' calibration constant determined by calibration procedure