ardupilot/Tools/mavproxy_modules

MAVProxy modules

This folder contains modules for MAVProxy specifically for ArduPilot. Add the path to this folder to your PYTHONPATH in order to use it.

Modules

sitl_calibration

This module interfaces with the calibration model of SITL. It provides commands to actuate on the vehicle's rotation to simulate a calibration process.

Make sure to pass --model calibration to the SITL binary in order to be able use this module's commands. You can also use [sim_vehicle.py](../autotest/sim_vehicle.py) with --frame calibration.

Accelerometer Calibration

The command sitl_accelcal listens to the accelerometer calibration status texts and set the vehicle in the desired attitude. Example:

accelcal
sitl_accelcal

Compass Calibration

The command sitl_magcal applies angular velocity on the vehicle in order to get the compasses calibrated. Example:

magcal start
sitl_magcal

Other commands

There are other commands you can use with this module:

• sitl_attitude: set vehicle at a desired attitude
• sitl_angvel: apply angular velocity on the vehicle
• sitl_stop: stop any of this module's currently active command

magcal_graph

This module shows the geodesic sections hit by the samples collected during compass calibration, and also some status data. The objective of this module is to provide a reference on how to interpret the field completion_mask from the MAG_CAL_PROGRESS mavlink message. That information can be used in order to guide the vehicle user during calibration.

The plot shown by this module isn't very helpful to the end user, but it might help developers during development of internal calibration support in ground control stations.

The only command provided by this module is magcal_graph, which will open the graphical user interface.