search

mavlink / qgroundcontrol

Cross-platform ground control station for drones (Android, iOS, Mac OS, Linux, Windows)
http://qgroundcontrol.io
3.22k stars 3.55k forks source link

ArduPilot: Implement new large vehicle mag val support #8142

Open DonLakeFlyer opened 4 years ago

DonLakeFlyer commented 4 years ago

From Tridge:

ArduPilot master now supports a new type of mag cal which is much simpler for users of large vehicles. It works by the user pointing the vehicle in a known direction then asking for a "fixed yaw mag cal" giving that known yaw.

You can see an implementation of this in MAVProxy here:

https://github.com/ardupilot/MAVProxy/blob/master/MAVProxy/modules/mavproxy_calibration.py#L183

you use "magcal yaw XXX" where XXX is the known yaw.

The calibration requires GPS lock, and uses the WMM tables to work out the X,Y,Z offsets.

It would be nice to support this in all ArduPilot GCS implementations, as it is much easier for large vehicles.

dagar commented 4 years ago

PX4 has support for this as well, but it's so far a bit of a hidden feature for developers bench testing.

commander calibrate mag quick

I'll open a Mavlink PR to move MAV_CMD_FIXED_MAG_CAL_YAW to common.

EDIT: Mavlink PR https://github.com/mavlink/mavlink/pull/1471

DonLakeFlyer commented 4 years ago

Sorry I had lost track of this request. I'll add support for it.