Merge pull request #5038 from adrianmiriuta/GyroDriftCompensationDoc
Documentation for <gyro_offset_yaw> PR#4986
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# CLI parameter <gyro_offset_yaw>
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## Introduction
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This parameter allows to manually compensate YAW gyro drift over time.
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## Audience
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This parameter is intended for LOS flyers who use the <HEADFREE> feature of betaflight.
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It reduces the usage of on sight realignment <HEADADJ>
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form 3-6 times to 0-1 during a flight.
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## Warnings
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Users with exotic board alignment configurations (this feature may not work as intended for your purpose !!!)
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The gyro drift depends on many factors, so the results of manual calibration have a big variance
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Factors:
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gyro (mpu6000 ICM260X ...)
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sampling rate
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temperature
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LiPo (3S ... 5S)
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Flight style
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Flight time
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and many more ...
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## Setup
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The basic setup can be done on the bench without LiPo (USB powerd)
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power on, do not move the quad for 10 minutes
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on CW drift 70° --> gyro_offset_yaw = 70
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on CCW drift 70° --> gyro_offset_yaw = -70
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This is only a coarse adjustment.
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Fine tuning requires real flights and some fingertip.
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Basically you have to measure the drift at the end of the flight,
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and modify the parameter accordingly.
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## Wishes
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Happy flight !
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