Onboard Compascal stuck if in certain configuration.

[AndKe]

Bug report

Issue details This config:

COMPASS_AUTO_ROT,1 COMPASS_CAL_FIT,32 COMPASS_DEC,0.15431185 COMPASS_DEV_ID,466441 COMPASS_DEV_ID2,466433 COMPASS_DEV_ID3,131874 COMPASS_EXTERN2,1 COMPASS_EXTERN3,0 COMPASS_EXTERNAL,1 COMPASS_OFFS_MAX,850 COMPASS_ORIENT,0 COMPASS_ORIENT2,29 COMPASS_ORIENT3,0 COMPASS_PRIMARY,0 COMPASS_USE,1 COMPASS_USE2,0 COMPASS_USE3,0

This config will allow internal compass calibration on device 466441 just fine it will show progress along the way in QGC or mavproxy magical_ui

device 466433 is the best-mounted magnetometer, so I do change parameters like that: COMPASS_PRIMARY,1 COMPASS_USE,0 COMPASS_USE2,1

now, I cannot get any progress during calibration, and it will never complete. However; doing an older calibration (by GCS) , does produce valid calibration for both first and second device (proving that both are providing data)

If I enable first and second device, then the progress will stop once first is calibrated.

Another clue: I have another drone with the same 466433 device, but in first place: COMPASS_DEV_ID,466433 COMPASS_DEV_ID2,131874 COMPASS_DEV_ID3,263178 And this setup has no problem calibrating it using internal calibration.

Version 3.6.0RC8 (and 3.5.5 too)

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

Airframe type Octa-quad

Hardware type Pixhawk 2.1

Logs n/a

[rmackay9]

Great, thanks for the detailed report!

[IamPete1]

I think this was just a issue that not using the first compass confused AP, lots of changes to how that stuff works now, so I'm going to close.