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MegaPirateNG / ardupilot-mpng

MegaPirateNG
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Compass orientation HK MultiWii PRO board #129

Open Hexagon opened 10 years ago

Hexagon commented 10 years ago

Hi,

HK MultiWii pro comes with the compass/magnetometer oriented in two different ways. There should be a notice about this where board type is defined, and a way to rotate the compass programmatically within config.h . The main reason to why i raise an issue on this, is because i don't want other people to crash their machines five times before figureing it out :)

I have this board (i think it's the most common one): http://pt.medievalcode.com/images/quad_posts/multiwii.jpg

Notice that, on this one, the magnetometer has the text (L883) in the readable orientation when the arrow points up. This isn't supported by the current firmware. My fix was to change line 323 in libraries/AP_Compass/AP_Compass_HMC5843.cpp from ROTATION_YAW_90 to ROTATION_YAW_180.

The following board, with the magnetometer rotated 90 degrees, should be supported out of the box, but seems like an early batch that isn't sold anymore. http://www.rcgroups.com/forums/showatt.php?attachmentid=5383900

jase1973 commented 10 years ago

I can confirm this problem and thankyou for documenting it. documented in a different way here for previous versions on megapirate... http://www.rcgroups.com/forums/showthread.php?t=1752719

see

else

define CONFIG_IMU_TYPE CONFIG_IMU_PIRATES

//#define MAG_ORIENTATION ROTATION_YAW_180

define MAG_ORIENTATION ROTATION_YAW_270

endif

Espenf commented 10 years ago

Hexagon, I have the HK_red board..don't know if txt on magnetometer is in line with arrow or 90deg. I used the Flash tool and upgraded to R4..very nice tool. Anyway I have adjusted in Mission Planner YAW_90 and done the calibration dans. It shows North correctly in map via Mission Planner. Do I have to do something else ?

Hexagon commented 10 years ago

If north is pointing to north you're good to go! Be very careful the first times you switch to GPS Hold (in case you have a multicopter), the aircraft might travel a couple of meters in some direction before settling, but after that it should be fairly stable.

Espenf commented 10 years ago

Tnx mate, you saved me from undressing the box around my card. Also I can inform that doing the calibre dance on my HK-blue board corrected north to north and YAW_0