PX4 User Guide (v1.14)

# Advanced Flight Controller Orientation Tuning

The orientation and horizon level may be fine-tuned manually with parameters to correct for sensor board small misalignment or minor calibration errors.

Note

These instructions are not recommended for regular users. For basic settings stick to the instructions linked below:

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 this fine-tuning offset angle parameters instead of using the trimmers of your RC Transmitter. This way when in fully autonomous flight the aircraft will maintain the trimming.

# Setting Orientation Parameters

To change the orientation parameters:

  1. Open QGroundControl menu: Settings > Parameters > Sensor Calibration.
  2. Change the parameters as shown below: FC Orientation QGC v2

# Parameter information

The SENS_BOARD_ROT parameter defines the rotation relative to the platform, while the X,Y and Z fine tuning offsets are fixed relative to the board itself. What happens is that the fine tuning offsets are added to the SENS_BOARD_ROT angle in order to get the total offset angles for the Yaw, Pitch and Roll orientation of the flight controller.

SENS_BOARD_ROT

This parameter defines the rotation of the FMU board relative to the platform. Possible values are:

  • 0 = No rotation
  • 1 = Yaw 45°
  • 2 = Yaw 90°
  • 3 = Yaw 135°
  • 4 = Yaw 180°
  • 5 = Yaw 225°
  • 6 = Yaw 270°
  • 7 = Yaw 315°
  • 8 = Roll 180°
  • 9 = Roll 180°, Yaw 45°
  • 10 = Roll 180°, Yaw 90°
  • 11 = Roll 180°, Yaw 135°
  • 12 = Pitch 180°
  • 13 = Roll 180°, Yaw 225°
  • 14 = Roll 180°, Yaw 270°
  • 15 = Roll 180°, Yaw 315°
  • 16 = Roll 90°
  • 17 = Roll 90°, Yaw 45°
  • 18 = Roll 90°, Yaw 90°
  • 19 = Roll 90°, Yaw 135°
  • 20 = Roll 270°
  • 21 = Roll 270°, Yaw 45°
  • 22 = Roll 270°, Yaw 90°
  • 23 = Roll 270°, Yaw 135°
  • 24 = Pitch 90°
  • 25 = Pitch 270°

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.

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