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.
Replies
Having the exact same issues. couldnt find out yet.
My external is with x pointing to the back and Y pointing down.
did you solve your problem?