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==Accelerometer Calibration==
 
==Accelerometer Calibration==
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Calibration algorithm is used to recalculate accelerometer axes to represent vehicle‘s axes (see Picture 1). Vehicles axes are as follows:<br>
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1. X is front.<br>
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2. Y is left.<br>
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3. Z is down.<br>
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[[File:Vehicle axis.PNG|center|Vehicle Axis]]
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Once vehicle‘s axes are calculated, device is considered calibrated.<br>
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<br>
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Note: moving forward along any axis will generate negative values. This means acceleration will generate -X values, accordingly breaking will generate X values. Same goes for other axes. <br>
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Commands that can be used during calibration:<br>
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<center>
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{| class="wikitable"
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|-
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! Command !! Response !! Description
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|-
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| auto_calibrate:set|| Yes || Request auto calibration task start
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|-
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| auto_calibrate:get|| Yes || Request calibration info (time, ground vector, side vector)
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|-
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| auto_calibrate:clear|| Yes || Request calibration clear from flash and stop calibration task
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|-
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| auto_calibrate:status|| Yes || Request calibration status and calibration task status
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|}
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</center>
 
==== Auto calibration before firmware version 03.25.07.Rev.00. ====
 
==== Auto calibration before firmware version 03.25.07.Rev.00. ====
 
Accelerometer auto calibration functionality has one purpose - determine how FMB device
 
Accelerometer auto calibration functionality has one purpose - determine how FMB device

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