Boat mode on VTOL confuse me

[Truth_T]

Hello. boat mode on VTOL confuse me.

https://ardupilot.org/copter/docs/boat-mode.html

from this article, I disable gyro calibration after boot, with INS_GYR_CAL parameter.

as I will fly my VTOL on moving ships in south pacific.

but how can I manually do acc and gyro calibration?

I heard that pre_flight_calibration on VTOL doesn’t support it. from here :

Way to calibrate only airspeed sensor..?

Hello. Suggestion : now “preflight_calibration” in mission planner does both gyro calibration and air speed calibration. I want to seperate the gyro calibration and air speed calibration Reason : in the above link, you can confirm that airspeed sensor should be calibrated manually before every flight. so, we have to press “pre-flight calibration” button before every flight. the problem is, “pre-flight calibration” button also calibrates gyro and acc. I will operate VTOL on moving ship…