The IMU is embedded in the flight controller and includes a gyroscope and an accelerometer, which respectively produce angular rate (in degrees/second) and linear acceleration measurements (normalized to gravitational acceleration at sea level g = 9.81 m/s^2).
Calibrating the accelerometer provides the “zero” plane around which the FC will stabilize the drone during flight, and is a procedure that should be repeated before each flight.
Method 1: calibration through CleanFlight
Connect to the FC (https://ethidsc.atlassian.net/wiki/spaces/DTSKY/pages/2233466906/6.1+Setting+up+the+Flight+Controller#Connecting-to-the-Flight-Controller-(FC)%5BhardBreak%5D)
Navigate to the “Setup” page
Place the drone on a (very) flat surface
Make sure the drone is level on the flat surface
Click on “Calibrate Accelerometer”
Do not move the drone while the calibration is in progress or it will invalidate the calibration
Wait for a few seconds. A successful outcome will produce a “reset” of pitch and roll measurements and the rendering of the drone’s attitude will show a level condition. Moreover, a message will appear on the top left of the CleanFlight interface saying “Accelerometer calibration finished”
Through the Dashboard
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