Start-up & Gyro Calibration
Three beeps heard immediately after powering up the board mean that the gyroscope calibration has completed successfully. INAV calibrates the gyro automatically upon every power-up. It is important that RubiQ stay still until the three beeps sound, so that gyro calibration isn’t thrown off. If you move the copter significantly during calibration, INAV will detect this, and will automatically restart the calibration once the copter is still again. This will delay the “three beeps” tone. If you move the copter just a little bit, the gyro calibration may be incorrect, and the copter may not fly correctly.
The tone heard at the end of the GPS search indicates 3D Lock has been established.