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Ardupilot/ArduIMU no IR sensor correct setting code 2.5.04 IR Z sensor

Posted by Nathaniel Caner on April 9, 2010 at 12:52pm
When using an Ardupilot board (running code v 2.5.04) with an ArduIMU(running code v1.6) and no IR sensor. The Ardupilot code has thefollowing line:

// IR sensors
//2-1
#define ENABLE_Z_SENSOR1  // 0 = no Z sensor, 1 = use Z sensor (no Z requires fieldcalibration with each flight)

Intuitively I would think thecorrect setting to be 0 (no Z sensor). Is this the correct setting? What"field calibration" will be required?

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  • Developer
    Doug Weibel April 9, 2010 at 1:01pm
    It doesn't matter. If GPS_PROTOCOL is set to use ArduIMU pretty much everything to do with IR is ignored.

    If you are using ArduIMU, you really should move up to the 2.6 beta firmware.

    I will mention that ArduIMU does go thru a field calibration. If you have everything set up properly you should get a ground start. During ground start you will see the yellow, red, and blue LEDs on the IMU flashing for a period and then the LED's off for a while. It is important that the plane be still and level during this time.

    The next revision of ArduIMU firmware will have two flashing sequences instead of the one flashing sequence and then a dark period, so that it is easier to recognize when the plane needs to be still.
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