PX4-Autopilot/docs/en/sensor/accelerometer.md

Accelerometer Hardware & Setup

PX4 uses accelerometer data for velocity estimation.

You should not need to attach an accelometer as a stand-alone external device:

• Most flight controllers, such as those in the Pixhawk Series, include an accelerometer as part of the flight controller's Inertial Motion Unit (IMU).
• Gyroscopes are present as part of an external INS, AHRS or INS-enhanced GNSS system.

The accelerometer must be calibrated before first use of the vehicle:

• Accelerometer Calibration