可以通过手动调参来修正无人机的方向和地平线水准，以校正传感器芯片存在的微小不对准或校准误差。
:::note These instructions are not recommended for regular users. For basic settings stick to the instructions linked below:
If there is a persistent drift bias (often seen in multirotors but not limited to them), it is a good strategy to trim it with the help of this fine-tuning offset angle parameters instead of using the trimmers of your RC Transmitter. This way when in fully autonomous flight the aircraft will maintain the trimming.
To change the orientation parameters:
- 打开 QGroundControl 菜单: Settings > Parameters > Sensor Calibration.
- 更改以下参数：
The SENS_BOARD_ROT parameter defines the rotation relative to the platform, while the X,Y and Z fine tuning offsets are fixed relative to the board itself. What happens is that the fine tuning offsets are added to the SENS_BOARD_ROT angle in order to get the total offset angles for the Yaw, Pitch and Roll orientation of the flight controller.
SENS_BOARD_ROT
This parameter defines the rotation of the FMU board relative to the platform. Possible values are:
- 0 = 无旋转
- 1 = 偏航 45°
- 2 = 偏航 90°
- 3 = 偏航 135°
- 4 = 偏航 180°
- 5 = 偏航 225°
- 6 = 偏航 270°
- 7 = 偏航 315°
- 8 = 滚转 180°
- 9 = 滚转 180°, 偏航 45°
- 10 = 滚转 180°, 偏航 90°
- 11 = 滚转 180°, 偏航 135°
- 12 = 俯仰 180°
- 13 = 滚转 180°, 偏航 225°
- 14 = 滚转 180°, 偏航 270°
- 15 = 滚转 180°, 偏航 315°
- 16 = 滚转 90°
- 17 = 滚转 90°, 偏航 45°
- 18 = 滚转 90°, 偏航 90°
- 19 = 滚转 90°, 偏航 135°
- 20 = 滚转 270°
- 21 = 滚转 270°, 偏航 45°
- 22 = 滚转 270°, 偏航 90°
- 23 = 滚转 270°, 偏航 135°
- 24 = 俯仰 90°
- 25 = 俯仰角 270°
SENS_BOARD_X_OFF
Rotation, in degrees, around PX4FMU's X axis or Roll axis. Positive angles increase in CCW direction, negative angles increase in CW direction.
SENS_BOARD_Y_OFF
Rotation, in degrees, around PX4FMU's Y axis or Pitch axis. Positive angles increase in CCW direction, negative angles increase in CW direction.
SENS_BOARD_Z_OFF
Rotation, in degrees, around PX4FMU's Z axis Yaw axis. Positive angles increase in CCW direction, negative angles increase in CW direction.