Tuning; Camera Yaw Offset Tuning - Raven VSN Operation Manual

CHAPTER 5

TUNING

CAMERA YAW OFFSET TUNING

This value can be modified.
In order to modify this value,
1. Clear the Online Performance Stats in the RS1 working set.
FIGURE 12. RS1 Online Performance Stats Page and Clear Option
NOTE: Refer to the RS1 Calibration and Operation Manual (P/N 016-0171-001) for assistance with navigating
and using the RS1 working set.
2. Drive a minimum of 150 meters down and back on the same path with VSN engaged. This should be done on
flat ground.
3. Return to the RS1 Online Performance Stats page.
4. If the average heading error in the RS1 object pool is greater than 0.4 degrees, add or subtract the average
heading error value from the Camera Yaw Offset.
•
If the average heading error is positive, subtract it from the Camera Yaw Offset.
•
If the average heading error is negative, add it to the Camera Yaw Offset.
26 VSN Operation Manual