I use APM, and I need to do 'drift compensation'. I have the following:
ahrs.pitch, ahrs.roll, ahrs.yaw.
drift vector =( x, y, z )
I use an external Compass for Yaw , and it is enabled. Now, how do I make use of the vectors above; do I need to assign them manually, how do I make use of the drift vector to really compensate for the drift that I get in all roll, pitch and yaw ??
Your answer will be appreciated.