This guide was designed with the Floatwheel ADV/ ADV Pro in mind.
If followed with another board the IMU, accelerometer orientations required and frequency values mentioned at the end may not be correct for your board setup.
If you have previously run the IMU Setup Wizard before running again head down to Rerunning IMU Wizard to reset your settings first.
IMU Setup:
From the Start page enter into IMU Setup and begin the IMU Wizard
This guide will be doing the Wizard in the following order:-IMU Configurator
-Gyroscope Calibration
-Orientation Calibration
-Accelerometer Calibration
Orientation is done before Accelerometer to ensure your board orientation is consistent with the guide
IMU Detected needs to say True
IMU type should be Internal BMI160 If not see note below
In the IMU Profile Selector be sure to select Balance Skateboard
Hit save to continue
Selecting Balance Skateboard is important
If left on default your board will appear to act correctly but be dangerous to ride
Re: IMU Type
If IMU type shows up as internal timeout and Detected shows as True that is okay to continue
Alternatively you can try rerunning search a few times to see if Internal BMI160 shows up
Gyroscope calibration all you need to do is let your board sit on stable ground and give the Offsets time to settle, once they have settled (varying within ±0.01) you can hit save and continue
Accelerometer Calibration is skipped to do Orientation Calibration first
Set the board up on some blocks and use a bubble level to level out the roll
When the bubble is centered and the number has settled (±0.01), press Save to continue
Set the board up on some blocks and use a bubble level to level out the pitch
When the bubble is centered and the number has settled (±0.01), press Save to continue
Set the board in its ready position
When the number has settled on a multiple of 90 (0, 90, 180, 270), press Save to finish
Accel X calibration you want to set the board on its nose and gently rock it back and forth trying to find the maximum value for the accelerometer
The target number will be somewhere around 1 but may vary by a bit so just keep rocking it till it has a stable peakPress Save to continue
You'll want to avoid any shocks to the board while doing this that might result in a detected value higher than normal, if that happens just press the Clear Max button and work your way back to a peak
If you're getting negative numbers the board is upside down.
Accel Y calibration you want to set the board on its side with the power button facing up and gently rock it back and forth trying to find the maximum value for the accelerometer
The target number will be somewhere around 1 but may vary by a bit so just keep rocking it till it has a stable peakPress Save to continue
Accel Z calibration you want to set the board on the wheel and gently rock it along its level trying to find the maximum value for the accelerometer
The target number will be somewhere around 1 but may vary by a bit so just keep rocking it till it has a stable peakPress save to continue
With the the IMU Wizard is finished navigate to App Cfg -> IMU
Set the Sample Rate to800 Hz
Write the setting to the boardNavigate to the packages tab
Select Update Archive
Select Install for the Float Package and wait as it processes
Disconnect and reconnect to the board to load the float package
Navigate to Float Cfg -> Specs and set the following:
Disable Float Package:Off
Loop Hertz:800 Hz
High Voltage Threshold:85.5 V
Low Voltage Threshold:60 V
ADC1 Switch Voltage:2.00 V
ADC2 Switch Voltage:2.00 V
Write the settings to the board
Before jumping on your board do a handtest to determine is is balancing properly
If you have any problems go back over these guides and make sure you didnt miss a setting
If the board is working as expected navigate to the Start tab:
Select Backup Config
Make sure you get a Success message from the backup
Now you will have a working backup to restore to if the board starts acting up
Time to jump on your board and get riding!
If you messed something up or want to rerun the IMU Wizard for any other reason you must disable the float package and clear app config follow the instructions below on how to do so
Navigate to App Cfg press the 3 dot button in the bottom right and select Read Default Settings
Write to board
Navigate to Float Cfg -> Specs and turn on Disable Float Package
Write to boardThen head back up to the start of the guide and run IMU Wizard again
You can skip the step to Install Float Package again, but will need to flip the toggle to reenable it at the end