Accelerometer calibration in Navio+/Navio2

Hi Everyone,

I have recently updated the code base to the current Navio+ code.
It seems like the the accelerometer calibration code is not running at startup.

I have followed the code from ArduCopter.cpp->system.cpp
and I can see that the gyro is getting calibrated at startup.
I can’t find the place where the accelerometer is getting calibrated.

There is a new library folder AP_AccelCal and I can’t seem to follow the 3D accelerometer calibration it is using (Gauss Newton method).

It would be really good to have an example on how to use this class.

Please could someone help me with this.

Thanks in advance.


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