accelerometer-calibration.html

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title: Calibration: Accelerometer Calibration 
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This article explains how to calibrate your autopilot's accelerometer to work with your vehicle configuration. For other calibration tasks see <a href="http://planner2.ardupilot.com/wiki/autopilot-calibration/">Autopilot calibration</a>.

<h1>1 Prerequisites</h1>
Before preforming setup, ensure that:
<ul>
	<li>The vehicle is completely built to flight condition.</li>
	<li><a href="http://planner2.ardupilot.com/wiki/install-firmware/">Firmware has been loaded onto the autopilot.</a></li>
	<li><a href="http://planner2.ardupilot.com/wiki/connect-autopilot/">Autopilot is connected to APM Planner.</a></li>
</ul>

<h1>2 Accelerometer Calibration</h1>
Select <strong>Accel Calibration</strong> to view the accelerometer calibration wizard. Select <strong>Calibrate Accelerometer</strong> to begin. Follow the prompts and select <strong>Continue</strong> after each step. It is important not to move the copter immediately after pressing the key for each step. 

<a href="http://planner2.ardupilot.com/wp-content/uploads/sites/7/2013/12/calibrate-accelerometer.png"><img class="alignnone wp-image-338" alt="calibrate accelerometer" src="http://planner2.ardupilot.com/wp-content/uploads/sites/7/2013/12/calibrate-accelerometer.png" width="300" height="159" /></a>

<a href="http://vimeo.com/56224615" target="_blank">Check out this video</a> for an example of how to hold your vehicle during accelerometer calibration.