bkleiner
commented
1 year ago i refactored the code to run CRT only after the gyro was detected sitting still, it is just too easy to move the craft after plugging in (especially with whoops). with that ensured the check seems to come back with the expected zero values quite reliably.
It's still worth mentioning that during the CRT the ACC is turned on and if any motion is detected the CRT will abort so it's pretty important to put the quad/drone on a stable surface to make sure it won't "move" during the CRT or say before the IMU fully "boot up".