From e26518cc4f0326a238fec7f3ea85c470035f5f65 Mon Sep 17 00:00:00 2001
From: Adrian Miriuta <adrian.miriuta@gmail.com>
Date: Fri, 26 Jan 2018 06:46:53 +0100
Subject: [PATCH] Documentation for <gyro_offset_yaw>

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 docs/CLI/gyro_offset_yaw.md | 35 +++++++++++++++++++++++++++++++++++
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 create mode 100644 docs/CLI/gyro_offset_yaw.md

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+# CLI parameter <gyro_offset_yaw>
+
+## Introduction
+This parameter allows to manually compensate YAW gyro drift over time.
+
+## Audience
+This parameter is intended for LOS flyers who use the <HEADFREE> feature of betaflight.
+It reduces the usage of on sight realignment <HEADADJ>
+form 3-6 times to 0-1 during a flight.
+
+## Warnings
+Users with exotic board alignment configurations (this feature may not work as intended for your purpose !!!)
+The gyro drift depends on many factors, so the results of manual calibration have a big variance
+Factors:
+  gyro (mpu6000 ICM260X ...)
+  sampling rate
+  temperature
+  LiPo (3S ... 5S)
+  Flight style
+  Flight time
+  and many more ...
+
+## Setup
+The basic setup can be done on the bench without LiPo (USB powerd)
+power on, do not move the quad for 10 minutes
+on CW  drift 70° --> gyro_offset_yaw = 70
+on CCW drift 70° --> gyro_offset_yaw = -70
+This is only a coarse adjustment.
+
+Fine tuning requires real flights and some fingertip.
+Basically you have to measure the drift at the end of the flight,
+and modify the parameter accordingly.
+
+## Wishes
+Happy flight !