Overview

The GYR parameter group (often appearing as INS_GYR_ in the full parameter list) handles the low-level settings for the Gyroscopes (Angular Rate Sensors).

Gyros are the most critical sensors for flight. They measure the vehicle's rotation rate and are the primary input for the high-frequency attitude control loops.

Key Concepts

1. Gyro Calibration (GYR_CAL)

Toggles the automatic gyro calibration at boot.

• Recommendation: Keep enabled. The autopilot measures the sensor drift while the vehicle is stationary on the ground and subtracts it.

2. Sensor Identification (GYR_ID)

Unique hardware identifier for the gyroscope chip, allowing the system to track specific calibrations and health across reboots.

Parameter Breakdown

• GYR_ID: Unique hardware ID.
• GYR_CAL: Calibration trigger/state.

Integration Guide

• Startup: DO NOT MOVE the vehicle while it is booting up. The "Gyro Calibration" occurs during the first few seconds of power-on. Movement during this phase will result in "Bad Gyro Health" or an uncommanded drift in flight.

Developer Notes

• Library: libraries/AP_InertialSensor.
• Redundancy: Most boards have 2 or 3 gyros; the INS_ library handles the voting and health monitoring between them.