Can not complete gyro zero calibratinon if gyro sensityvity is higher than default.

[and-sh]

Current Behavior

Can not complete gyro zero calibratinon if gyro sensityvity is higher than default.

The is error that std dev is calculated from raw readings

and threshold is independent on gyro scale.

Steps to Reproduce

Use precision gyro.

Expected behavior

Zero calibration must be independent on gyro sensitivity.

Suggested solution(s)

Adjust threshold on gyro scale factor.

Additional context

All versions of Inav have this error

[DzikuVx]

Which exact hardware this is related to?

[and-sh]

It will be related to any hardware with resolution different from 16.4 LSB per degree/s.

Now I use custom board with icm45686. I found this problem when I was testing different FS for gyro and accel.

[and-sh]

Second error of this type is accel clipping limit

inav/src/main/sensors/acceleration.h

Line 30 in f00cd9e

#define ACC_CLIPPING_THRESHOLD_G 15.9f

When using an accelerometer with a limit of 32g or 8g, this will not work correctly.

If everything is left as is, these errors will cause a lot of difficulties in the future.