Hi all,
My question: does the arducopter control laws ignore the onboard magnetometer when the external compass is initialized on the Pixhawk/APM. Furthermore, is the external compass MAG or MAG2 in the datalog?
I'm having some yaw issues on a large quad and trying to figure out the root cause. I am using the 3DR uBlox GPS with Compass Kit on a mast approximately 6 inches above my the Pixhawk. I have 3.1.2 firmware loaded on my Pixhawk.
When analyzing the datalog, I noticed that both MAG and MAG2 are being recorded. I assume that because I am using the external compass, the arducopter control laws utilize the data from the external compass rather than the magnetometer on board the Pixhawk. Is this true?
I've attached a MATLAB plot for further reference. There is a possibility that the root cause if purely bad tuning, although I'm trying to eliminate as many variables as possible.
Thanks,
Tony
Replies
At this point in time, the internal magnetometer is just logged and not used in the flight controls. I believe there are future plans to have the APM switch to the internal magnetometer if the external one fails (i.e have it as a backup sensor).
Yaw issues can be due to the magnetometer not being calibrated.
Thank you Stephen, I'll report back if i figure it out. First thing I'll do is recalibrate the mag.