AHRS Orientation and Compass Orientation help

I'm going mental.  Can someone please tell me how to set AHRS Orientation and Compass Orientation for the following setup:

PX4 upside down and front pointing to the left of the vehicle

GPS module upright and front to the front of the vehicle

 

I thought AHRS orientation should be "14", but I can't work out how to determine the Compass orientation relative to that.  I'm getting a compass heading that's about 45 degrees off the actual vehicle heading.

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

  • Gaah!!  The GPS is upside down in its housing - http://rover.ardupilot.com/wiki/common-installing-3dr-ublox-gps-com...

     

    According to Mission Planner, the COMPASS_ORIENT for PX4 should be set independent of the AHRS_ORIENTATION, which seems to mean COMPASS_ORIENT should be "8" in my config regardless of PX4 orientation.

     

    However, I still seem to be having some odd compass issues - it loses calibration or orientation and ends up at about 90 degrees to the vehicle orientation, and I get "BAD COMPASS HEALTH" messages coming up. Any thoughts?

    • Did you found a solution MikeRover? 

      I do have the very same problem.

      Cheers!

      • What's your particular problem?  It turned out I'd misread the doco and the PX4 / Pixhawk "knows" that the compass is upside down. The upshot is, if you have the pixhawk and the GPS module mounted in their normal orientation, you just select (I think it's called) "pixhawk" normal orientation.

         

        I think all my problems were due to telling the system the compass was upside down when it already knew.

         

        What's your exact config?

    • Have you gotten it to work? 

      I am working on building a copter atm but I would like to know about how hard it would be to set px4 sideways. (Mechanical design is such that the size of px4 creates a requirement for it to be sideways to flight direction.) 

This reply was deleted.

Activity

DIY Robocars via Twitter
RT @donkey_car: Human-scale Donkey Car! Hope this makes it to a @diyrobocars race https://www.youtube.com/watch?v=ZMaf031U8jg
Saturday
DIY Robocars via Twitter
Saturday
DIY Robocars via Twitter
Jun 16
DIY Robocars via Twitter
RT @GrantEMoe: I won my first @diyrobocars @donkey_car virtual race! Many thanks to @chr1sa @EllerbachMaxime @tawnkramer and everyone who m…
Jun 13
DIY Robocars via Twitter
RT @gclue_akira: JetRacerで自動走行したコースを、InstantNeRFで再構築。データセットは別々に収集 #jetracer #instantNeRT https://t.co/T8zjg3MFyO
Jun 13
DIY Robocars via Twitter
RT @SmallpixelCar: SPC 3.0 Now the motor also works. This car is doable. I just need to design a deck to mount my compute and sensors. http…
Jun 13
DIY Robocars via Twitter
RT @SmallpixelCar: My new car SPC 3.0. https://t.co/CKtkZOxeNQ
Jun 7
DIY Robocars via Twitter
RT @SmallpixelCar: High speed at @diyrobocars thanks @EdwardM26321707 for sharing the video https://t.co/o4317Y2U1S
Jun 7
DIY Robocars via Twitter
RT @SmallpixelCar: Today at @RAMS_RC_Club for @diyrobocars. Used @emlid RTK GPS and @adafruit @BoschGlobal IMU. Lap time 28s https://t.co/R…
May 28
DIY Robocars via Twitter
May 15
DIY Robocars via Twitter
May 14
DIY Robocars via Twitter
May 13
DIY Robocars via Twitter
RT @f1tenth: Say hi to our newest #F1TENTH creation for @ieee_ras_icra next week in Philly. It’s going to be huge! 😎 🔥 @AutowareFdn @PennEn…
May 13
DIY Robocars via Twitter
May 11
DIY Robocars via Twitter
May 8
DIY Robocars via Twitter
RT @SmallpixelCar: Noticed my car zigzagged in last run. It turned out to be the grass stuck in the wheel and made the odometry less accura…
May 8
More…