Does the DIY Drones magnetometer when incorporated with APM 2.XX actually assist in the navigation equations during low ground speed operations or is it strictly used for GCS/OSD mag heading displays.
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Yes, it is used in the attitude solution. I don't think we would have bothered with another piece of hardware just to fill in a field in a GCS display.....
The magnetometer is used for yaw drift correction in the IMU/AHRS. It allows for operation in quads/helicopters where the gps ground course has no relation to the airframe heading. In airplanes we can do yaw correction using gps ground course, and the magnetometer is optional. For a complete explanation search for Premerallani's papers here.
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@ Doug
How does APM utilize the magnetometer during takeoff and landing in an airplane? Also, do you have a link to said papers?
Yes, it is used in the attitude solution. I don't think we would have bothered with another piece of hardware just to fill in a field in a GCS display.....
The magnetometer is used for yaw drift correction in the IMU/AHRS. It allows for operation in quads/helicopters where the gps ground course has no relation to the airframe heading. In airplanes we can do yaw correction using gps ground course, and the magnetometer is optional. For a complete explanation search for Premerallani's papers here.