Javad JNSGyro-4T Operator's Manual page 56

S E T U P A N D M E A S U R I N G
3
JNSGyro-4T Setup
above-defined body frame. To set the number of the samples involved into
the self-calibration, the setting
%%set,att/naver,<n>
is used, where <n> is the number of the samples. This number should be
sufficiently large to filter out slowly varying errors caused by multipath.
The typical correlation time of a multipath error is around 10 minutes, and,
Ten minutes calibration time requires 600 secG20 = 12000 samples at 20
Hz update rate.
To start the calibration, the command
%%set,att/tune,on
To determine angle corrections to the body frame, the setting
%%set,att/aoff,{poff,roff,hoff}
where "poff", "roff", "hoff" are the pitch, roll, and heading correction
offsets, respectively.
To learn the angles obtained after the self-calibration, the following
command must be sent to the port A of Master:
%%set,att/debug/ang,on
The output will be zero until the self-calibration is finished.
3-8 JNSGyro-4T Operator's Manual
is used.
is used,
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