Added support for fixed yaw mag calibration #12863
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rmackay9
reviewed
Dec 2, 2019
rmackay9
reviewed
Dec 2, 2019
| @@ -3725,6 +3738,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t | |||
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| return MAV_RESULT_UNSUPPORTED; | |||
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| case MAV_CMD_FIXED_MAG_CAL_YAW: | |||
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I guess this command could also arrive as part of a COMMAND_INT?
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I tested this out on my copter after adding a small change to allow triggering it from channel 6. The results look ok although some of the z-axis offsets are significantly different. |
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this is a fast compass calibration that uses a yaw value provided by the user.
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This is a fast compass calibration given vehicle position and yaw. The calibrations results in zero diagonal and off-diagonal elements, so is only suitable for vehicles where the field is close to spherical. It is useful for large vehicles where moving the vehicle to calibrate it is difficult.
The offsets of the selected compasses are set to values to bring them into consistency with the WMM tables at the given latitude and longitude. If compass_mask is zero then all enabled compasses are calibrated.
This assumes that the compass is correctly scaled in milliGauss
MAVProxy implements this using the "magcal yaw" command.
This PR depends on this:
ArduPilot/mavlink#113