ArduCopter 2.9: 'Level' accel calibration leaves attitude tilted about ardupilot HOT 7 CLOSED

i can confirm this issue as well. The only thing that worked for me was to go to CLI > setup > reset and restore to a fresh config. After that, using the level command worked great.

from ardupilot.

Did you restore to a fresh 2.9 or downgrade?

from ardupilot.

i upgraded from 2.8 to 2.9 and then noticed the issue. After that I ran the reset command which reset to the default config on the 2.9 firmware.

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We will sort this out in 2.9.1.

By th way, after an accel calibration, if the HUD is not level, what you're seeing is a misalignment of the board vs the frame, the chip on the board or a misalignment inside the mpu6k chip.

Save Trim or AutoTrim can help you fix this but it's also possible to manually set the AHRS_TRIM_X (for roll) and AHRS_TRIM_Y (for pitch) parameters directly in the Adv Parameters List in the mission planner. These number are in radians (not degrees) but you can use excel or many other programs to do the conversion.

it's also possible to use auto-trim or save trim functions even when not flying to get the AHRS level. just push the roll and pitch sticks around as you invoke either function and you'll see you can make the HUD move.

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I have to disagree - i am confident that i did not shake the whole copter apart between 2.8. and 2.9, only to have it spontaneously mend during the downgrade :)

I hadn't thought of using ch7 trim "dry" without the copter flying, which would have been rather interesting at the angle it thought of as "up"

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Seems relevant : new Calibrate Accel function seems broken in current master branch, hangs my APM and MP.

from ardupilot.

the HUD not being level is fixed in 2.9.1!

calibrate still doesn't work in master but we know why. you can use the cli's "setup", "accel" until then.

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