Compass calibration
This section describes how to calibrate the compass.
All sensors of the DeltaQuad Evo, including the accelerometer, gyroscope, airspeed, and compass, have been calibrated and tested in our factory.
Only the compass may need re-calibration if the DeltaQuad Evo is operated in a different location with varying magnetic interference or if the compass shows inaccurate or erratic heading readings.
In-field compass calibration
If the vehicle exhibits signs of compass problems, such as toilet bowling, errors during the pre-flight checks (such as Position not available), or a compass offset, you can automatically correct the sensor biases by gently oscillating the drone around its three axes by approximately ±30 degrees. Typically, two oscillations per axis are sufficient to achieve a good result.
Complete 6-sides calibration
The DeltaQuad Evo requires a compass calibration in the following conditions:
When the in-field compass calibration didn't solve the compass issues.
When indicated by events described in the DeltaQuad Evo manual:
Toilet bowling
Operator action: LAND
The vehicle should take off straight after the first few meters. If the DeltaQuad Evo starts toilet bowling (circling up) the mission should be aborted, and a compass calibration must be performed.
When the telemetry readings are inconsistent with reality.
The vehicle's current physical orientation doesn’t match the heading observed in Auterion Mission Control (AMC). A deviation higher than 15 degrees is outside the tolerance.
When a persistent compass fault is displayed in AMC, compass calibration is advised.
Preparations:
The compass calibration is best performed outside, in an area with minimal magnetic interference.
Ensure there is ample space to move around with the vehicle.
The compass calibration can be done without the wings attached to facilitate easier movement.
The DeltaQuad Evo must have the main battery and two empty payload boxes installed.
Close the fuselage hatch.
Position the DeltaQuad Evo on the ground (with the landing gear deployed).
Power on the DeltaQuad Evo and the Ground Control Station, and wait until a connection is established.
Remove all electronic and metallic devices from your person, including your phone, headset, smartwatch, etc.
The compass calibration is performed in AMC (enter Advanced Mode by clicking 5 times on the AMC menu icon). Navigate to Vehicle Overview -> Sensors -> Compass.
On the right side, the screen opens to Calibrate Compass. Click Ok to start the calibration. When AMC is used in Advanced Mode, the option to set the Autopilot Orientation is displayed—leave this option as it is. This is set automatically by the vehicle's firmware.
AMC will guide you in positioning the vehicle in a series of set orientations and then rotating it around the specified axis. Place the vehicle in any of the orientations shown in red (incomplete) and hold it still.
Once prompted (when the orientation image turns yellow), rotate the vehicle around the specified axis in either or both directions.
When the calibration is complete for the current orientation, the associated image on the screen will turn green. A sequence of beeps will guide you through the process.
Repeat the calibration process for each vehicle orientation. At the end of the calibration, all orientation images will turn green, and the progress bar at the top will be full.
After the compass calibration is complete, a warning window about magnetic interference may appear. This warning can be ignored at this stage.
Once you've calibrated the vehicle in all positions, AMC will display a Compass Calibration Complete prompt. Verify the External Compass 1 Orientation.
Depending on the installed GPS type, the orientation of the external compass differs. The External Compass 1 Orientation must show the following values for the two different GPS modules:
TUALAJ 4100: ROTATION_NONE
TUALAJ 8200: ROTATION_ROLL_180
After a successful calibration, these values should be automatically set correctly.
To finalize the process click on Reboot Vehicle.
After the compass calibration, always verify that the compass is reading correctly by pointing the vehicle north, east, south, and west. At each turn, ensure the vehicle icon on the compass rose in AMC points in the correct direction and remains steady for at least 30 seconds. If the compass deviates by more than 15 degrees, retry the calibration. If the issue persists, please contact [email protected].
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