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Add gyro recalibration button to web UI #32

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opened 2026-02-28 20:57:28 -05:00 by seb · 0 comments
seb commented 2026-02-28 20:57:28 -05:00
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Context

Gyro bias calibration on boot is already implemented (PR #25, issue #23). However there is no way to recalibrate without rebooting the FC.

Request

  1. New USB CDC command: C = recalibrate gyro (board must be stationary)
  2. Web UI button: "RECALIBRATE" button that sends C command
  3. Firmware: On receiving C, run mpu6000_calibrate() again (1s sampling, LEDs indicate calibrating)
  4. UI feedback: Button disabled during calibration, show "Calibrating..." state, re-enable when done
  5. Safety: Must be disarmed to recalibrate — reject if armed

Why

Gyro bias drifts with temperature. After the bot has been running for a while, recalibrating without a full reboot is useful. Also handy during development — just hit the button instead of DFU cycle.

Related: #23 (boot calibration), #25 (implementation)

## Context Gyro bias calibration on boot is already implemented (PR #25, issue #23). However there is no way to recalibrate without rebooting the FC. ## Request 1. **New USB CDC command:** `C` = recalibrate gyro (board must be stationary) 2. **Web UI button:** "RECALIBRATE" button that sends `C` command 3. **Firmware:** On receiving `C`, run `mpu6000_calibrate()` again (1s sampling, LEDs indicate calibrating) 4. **UI feedback:** Button disabled during calibration, show "Calibrating..." state, re-enable when done 5. **Safety:** Must be disarmed to recalibrate — reject if armed ## Why Gyro bias drifts with temperature. After the bot has been running for a while, recalibrating without a full reboot is useful. Also handy during development — just hit the button instead of DFU cycle. Related: #23 (boot calibration), #25 (implementation)
seb closed this issue 2026-02-28 21:58:05 -05:00
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#32
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