Discussions

I spent several days on this and its driving me up the walls.

I use arduplane 3.3.0. I have two pixhawk (clones, fixhawk and HKpilot32 with external neo 7m gps/compass). The problem is the same with both.  I need to mount the pixhawk at a 270 degree angle, arrow pointing to the left wing tip.  So I set AHRS_ORIENTATION to 6.

Am I right saying that doing so, even after doing a compass recalibration, does not change the internal compass orientation? So I need to change that as well?

WHen the external compass is connected, the internal becomes compass 2, correct? But mission planner is confusing here, the comments for COMPASS_ORIENT (so compass 1) state what to do for the internal compass while COMPASS_ORIENT2 doesnt state that. So which one do I change for the internal?

And then of course, the external module. Is the orientation relative to the frame or to the pixhawk? And do I need to account for the fact the compass chips is mounted upside down (roll_180) or not? Documentation seems to contradict itself about that.

To help isolate the problem, I tried removing the external compass, but that only makes matters worse, because then the internal compass becomes compass 1 and all offsets and orientation parameters appear to be applied to the wrong compass.

So I tried disabling each compass by setting COMPASS_USE or COMPASS_USE2 to zero, but that doesnt seem to do anything, it still uses both compasses and the heading shown in mission planner seems to be a mix of both and Im getting plenty of compass errors.

So I tried plotting magx, magy, magz and mag2x,y and z, but it seems no matter what I do, I cant get them to align and move in the same direction on all axis 

ARGH. Please help.