Howto Inflight ACC - Calibration in MultiWii 2.0

Method A: The Failsafe method (if you have an aux vhannel assigned to arm your copter).

Preparation: uncomment #define InflightAccCalibration

Step 1 :- Copter on ground, Motors off:
- Stick Combo: Throttle + low yaw left + pitch foward + roll right
-> Copter Beeps 2 times: Function activated (do it again to deactivate: copter beeps 3 times)

Step 2 : get airborne and level copter either by trimming TX in hover mode or level it in acro mode.

Step 3: When copter is leveled (no drift) switch off engines while airborne: copter beeps.

Step 4: Switch Engines Back on and land: copter beeps long and new Offsets are stored in EEProm

Step 5: Start again and notice the new new calibration (Important: If you trimmed in level mode: take back all trims on your TX or you will propably crash)


Method B: Using the passthrough function

Preparation: uncomment #define InflightAccCalibration, assign passthrough to one of you aux channels.

Step 1: get airborne and level copter either by trimming TX in hover mode or level it in acro mode.

Step 2: activate switch "passthrough"

Step 3: land and deactivate "passthrough": copter beeps long and new Offsets are stored in EEProm

Step 4: Start again and notice the new new calibration (Important: If you trimmed in level mode: take back all trims on your TX or you will propably crash)

ps.> this function overwrites the ACC/Trim multiwii is providing, feel free to optimiye I bz hand with the usual stick combo after auto trim.

New airframe almost done

My new airframe is almost done, I just need to mill the new Landing legs and the new constructed motor mounts and it is ready.

The new cage is nearly indestructable and has a MK mounting ring ontop, so I can mount the GPS and the cam up there.