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ArduPlane, ArduCopter, ArduRover, ArduSub source
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COMPASS2_ORIENT apparently ignored #15711

Closed arikrupnik closed 4 years ago

arikrupnik commented 4 years ago

Bug report

Issue details

Please describe the problem

I have a an external GPS/compass unit that is mounted at 90 degree CCW offset from its nominal orientation. Changing the value of COMPASS2_ORIENT parameter seems to have no visible effect on compass readings. They are 90 degrees off. The FC (PH4m) has an onboard compass (in default orientation). With both compasses enabled, I get correct headings. But if I disable the first (built-in) compass, I get readings that are off by 90 degrees.

There's some discussion of the issue on the forum: https://discuss.ardupilot.org/t/compass2-orient-6-yaw270/63576

Photo of the installation: compass2_orient

Version What version was the issue encountered with Plane 4.0.6

Platform [ ] All [ ] AntennaTracker [ ] Copter [ x ] Plane [ ] Rover [ ] Submarine

Airframe type What type of airframe (flying wing, glider, hex, Y6, octa etc) Eflite Scimitar; flying wing

Hardware type What autopilot hardware was used? (Pixhawk, Cube, Pixracer, Navio2, etc) Holybro PixHawk 4 Mini; mRo compass/GPS unit

Logs Please provide a link to any relevant logs that show the issue

arikrupnik commented 4 years ago

I should add that I tried changing COMPASS2_ORIENT to every single value and power-cycle the AP after each value write. I get the same readings regardless of the value.

rmackay9 commented 4 years ago

It's likely that the COMPASS2_EXTERNAL = 0. The orientation isn't applied to internal compasses. It would be good to confirm 100% that the 2nd compass is actually the external compass that you think it is.

rmackay9 commented 4 years ago

I'm going to close this because it's really a support issue and should be raised in the forums first, confirmed to be a bug or enhancement and then raised here. Thanks for the report though.

arikrupnik commented 4 years ago

It's likely that the COMPASS2_EXTERNAL = 0. The orientation isn't applied to internal compasses. It would be good to confirm 100% that the 2nd compass is actually the external compass that you think it is.

Thank you for for following up, @rmackay9 . If this is a support issue, perhaps I can impose on you to weigh in on my forum thread.

COMPASS2 is set as external. Here's a screenshot from the thread: