Hi everyone.
Has anyone used the "Cruise" mode in V2.74b? I tried it on my last flights and found that the heading would drift.Thinking that the compass was being affected by motor power wires etc.(confirmed by observing the compass reading in MP when throttling the motor) I tried using the COMPASS_MOT_X(and Y and Z)to compensate.
I disabled COMPASS_LEARN and enabled COMPASS_MOTCT(set to 2, use current) and entered values into COMPASS_MOT_Z(also tried X and Y)but it seems to have no effect at all.
Also what does it mean when it says"Do not change manually." in the description of COMPASS_MOTCT?How are you supposed to change it?
Thanks,
David
Replies
I'm pretty sure the compassmot feature doesn't work in arduplane. It was added for arducopter and although that part of the code is mostly shared with arduplane (which is why you see the parameters), I don't think the plumbing has been done to push the latest current or throttle position into the compass library so that interference from the motor and power wires can be compensated for.
The way that the values are updated is through the cli (command-line-interface) but that cli feature is also only implemented for copter.
It's probably quite easy to get it working for arduplane but I haven't heard of the motor causing much interference. It's possible to check by mapping the "mag_field" by the throttle (or channel3) and discussed on this [copter] wiki page.