飞控方向的高级调参
方向和水平可以用参数手动调整，以校正传感器板的小误差或者校准误差。
If there is a persistent drift bias (often seen in multirotors but not limited to them), it is a good strategy to trim it with the help of these fine-tuning offset angle parameters, instead of using the trimmers of your RC Transmitter. 对于基本设置，请遵循下面链接的说明：
INFO
These instructions are "advanced", and not recommended for regular users (the broad tuning is generally sufficient).
方向参数设置
如果存在持续的漂移偏差(通常存在于多旋翼中，但不仅限于多旋翼)，一个比较好的方法是可以通过微调偏移角度参数的帮助，去除该偏差，而不是使用遥控发射器的微调器。 这样，飞机在完全自主的飞行中将保持调整修正。
更改方向参数：
The other parameters can then be set in order to fine-tune the orientation of the IMU sensors relative to the board itself.
You can locate the parameters in QGroundControl as shown below:
Open QGroundControl menu: Settings > Parameters > Sensor Calibration.
The parameters as located in the section as shown below (or you can search for them):
Parameter Summary
- SENS_BOARD_ROT: Rotation of the FMU board relative to the vehicle frame.
- SENS_BOARD_X_OFF: Rotation, in degrees, around PX4FMU's X axis or Roll axis. Positive angles increase in CCW direction, negative angles increase in CW direction.
- SENS_BOARD_Y_OFF: Rotation, in degrees, around PX4FMU's Y axis or Pitch axis. Positive angles increase in CCW direction, negative angles increase in CW direction.
- SENS_BOARD_Z_OFF: Rotation, in degrees, around PX4FMU's Z axis Yaw axis. Positive angles increase in CCW direction, negative angles increase in CW direction.