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Scale the gyro calibration movement threshold with sensitivity #11905

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Scale the gyro calibration movement threshold with sensitivity #11905

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fd6d88e
gyro: scale zero calibration movement threshold with gyro sensitivity
Sep 10, 2026
668db00
Move the threshold conversion into a helper
Sep 14, 2026
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11 changes: 10 additions & 1 deletion src/main/sensors/gyro.c
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Original file line number Diff line number Diff line change
Expand Up @@ -364,6 +364,15 @@ bool gyroInit(void)
return true;
}

/* Zero calibration works on raw gyro readings, so the movement threshold has to be
* expressed in that sensor's LSB. Each gyro is asked for its own scale: a dual-IMU
* board may pair two unrelated parts, and the primary's sensitivity would be the
* wrong reference for the secondary. */
static float gyroMovementThreshold(uint8_t index)
{
return CALIBRATING_GYRO_MORON_THRESHOLD_DPS / gyroDev[index].scale;
}

void gyroStartCalibration(void)
{
if (!gyro.initialized) {
Expand All @@ -377,7 +386,7 @@ void gyroStartCalibration(void)
#endif

gyroCalibrationComplete = false;
zeroCalibrationStartV(&gyroCalibration[0], CALIBRATING_GYRO_TIME_MS, CALIBRATING_GYRO_MORON_THRESHOLD, false);
zeroCalibrationStartV(&gyroCalibration[0], CALIBRATING_GYRO_TIME_MS, gyroMovementThreshold(0), false);
}

bool gyroIsCalibrationComplete(void)
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5 changes: 4 additions & 1 deletion src/main/sensors/sensors.h
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,10 @@ typedef union flightDynamicsTrims_u {
#define CALIBRATING_PITOT_TIME_MS 4000
#define CALIBRATING_GYRO_TIME_MS 2000
#define CALIBRATING_ACC_TIME_MS 500
#define CALIBRATING_GYRO_MORON_THRESHOLD 32
// Gyro zero calibration movement threshold, in dps. Expressed as a physical rotation rate so
// that it does not depend on the gyro sensitivity. Equals the legacy threshold of 32 LSB at
// the default scale of 16.4 LSB/dps
#define CALIBRATING_GYRO_MORON_THRESHOLD_DPS (32.0f / 16.4f)

// These bits have to be aligned with sensorIndex_e
typedef enum {
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