Calibration

There are several commands to calibrate the various sensors on the APM:

accelcal

Initiates the accelerometer calibration routines. This is the “place the UAV on its left side…” routine.

accelcalsimple

Does a simple pre-flight accelerometer calibration

gyrocal

Initiates the gyro calibration routines.

calpress

Initiates the pressure sensor calibration routines.

compassmot

Initiates the magnetometer/motor interference calibration routines.

level

Do a levelling routine on a multicopter.

rccal

Perform calibration of the RC input channels.

ground

Performs a full ground start. This includes gyro and pressure sensor calibration. It is automatically performed when the autopilot receives an arming command.

magcal

Magnetometer (compass) calibration to account for any soft-iron sources on the UAV.

ahrstrim

Do a AHRS trim.