kriswiner
commented
19 hours ago Perhaps Greg can add something but:
"Does the resulting quaternion use magnetic north or "true" north (as defined by declination)?"
Should be true North such that when the USFSMAX is pointing to true North the yaw should read 0 and the quaternion should read 0, 0, 0, 1.
Changes to the configuration file should take effect after restart. I suggest that you remove all power, wait ten seconds, and then try again.
On Thu, Sep 19, 2024 at 10:44 PM Nathan Lewis @.***> wrote:
I will fully admit, I don't have a great way of testing the accuracy of the resulting heading at the moment. Still working on integrating the USFSMAX (MMC) into my robot where I can check against an RTK GPS.
I updated the magnetic field strength and declination constants for my location in the config. After calibrating the 3D DHI corrector (a few different times), I noticed that the resulting heading seems to mostly correspond with the magnetic heading reported by my phone (I understand that phone compasses are also in general not great).
If I change the declination in the host tool after calibration and restart the USFSMAX, I notice that the reported heading doesn't seem to be affected.
Does the resulting quaternion use magnetic north or "true" north (as defined by declination)? Or does this value only matter during calibration?
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I will fully admit, I don't have a great way of testing the accuracy of the resulting heading at the moment. Still working on integrating the USFSMAX (MMC) into my robot where I can check against an RTK GPS.
I updated the magnetic field strength and declination constants for my location in the config. After calibrating the 3D DHI corrector (a few different times), I noticed that the resulting heading seems to mostly correspond with the magnetic heading reported by my phone (I understand that phone compasses are also in general not great).
If I change the declination in the host tool after calibration and restart the USFSMAX, I notice that the reported heading doesn't seem to be affected.
Does the resulting quaternion use magnetic north or "true" north (as defined by declination)? Or does this value only matter during calibration?