By the way, your floor or your desk is not likely a level surface. It took me about 20 minutes with a level to find a level surface in my home. Quality New Jersey construction at its finest. A slight gimbal tilt had been driving me crazy, so I decided to use an absolutely level surface. What do you know? My gimbal is now on the level through 360° of yaw.
Calibrating your IMU unless than a perfectly level surface can introduce several different errors. Be sure to cool your phantom first, before starting to IMU calibration
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