> For the complete documentation index, see [llms.txt](https://c-shengwen-tw.gitbook.io/ncrl-flight-controller/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://c-shengwen-tw.gitbook.io/ncrl-flight-controller/guide/calibration/optitrack.md).

# OptiTrack

1.Click "Mask Visible" to mask the noise.

![](/files/-MBhYVTcfh1zcNlXxaXc)

3.Click "Start Wanding" to collect calibration data.

![](/files/-MBhYwdPncphjTewo6B5)

4\. Start  wanding with the **calibration wand.**

![](/files/-MBhWS0NUt8n7CmNP-id)

5\. Wand until sampling numbers is higher than 8000 then click "Calculate".

![](/files/-MBhe9S2uHAHZZnfawFC)

6\. Apply calibration result.

![](/files/-MBhbGI9QRzi704bFklU)

7\. Place **calibration square** as follow.

![](/files/-MBhWQP_wOI8AVGb-rDt)

8\. Click "Set Ground Plane".

![](/files/-MBhbDU8RJ6ZfuzQO4ht)

9\. Rotate coordinate system until it matches the convention.

![](/files/-MBhdGFhbiDTsLaNSrsw)

![](/files/-MBhji2pxDlPdvBoV5zL)

10\. Place drone on the origin and align heading with y-axis of the optitrack coordinate frame.

![](/files/-MBhkK2jgcWdm92BsQjk)

11\. Select reflecting points of rigidbody marker.

![](/files/-MBhkljVH-hhWRvFAKQu)

12\. Create new ridigbody in system.

![](/files/-MBhkngT3EioUYlyLlqt)

13\. Rename rigidbody name to MAV + ID (e.g: MAV1) by triple clicking.

![](/files/-MBhlg_yrRm1G6WShc37)

![](/files/-MBhlekGDeZAj5ZGU6IZ)

14\. Done.