Description
The magnetometer on the flight computer is a super useful sensor that, if used correctly, can help us during sensor fusion to determine an approximate magnetic heading, which we can fuse with gyroscope data for better state estimations. Since we've improved the euler angle estimations on 6 axes, we've reached a point where this data is actually super critical to the accuracy of the flight computer's positional state.
Right now, we read some magnetometer data but don't do anything with it. In the form we have (raw readings from the mag X, mag Y, and mag Z registers), it's kinda unusable.
We need to convert this data from the proprietary unit to float, and we need to apply compensation based on the contents of the hall effect register in order to get useful magnetometer data.
We'll also probably want to store this converted data in flash somewhere, which will mess with our sensor data schema. Contact @ETSells for help on this step.
References
Datasheet: https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmm150-ds001.pdf
Bosch Driver: https://github.com/boschsensortec/BMM150_SensorAPI/tree/master
Description
The magnetometer on the flight computer is a super useful sensor that, if used correctly, can help us during sensor fusion to determine an approximate magnetic heading, which we can fuse with gyroscope data for better state estimations. Since we've improved the euler angle estimations on 6 axes, we've reached a point where this data is actually super critical to the accuracy of the flight computer's positional state.
Right now, we read some magnetometer data but don't do anything with it. In the form we have (raw readings from the mag X, mag Y, and mag Z registers), it's kinda unusable.
We need to convert this data from the proprietary unit to float, and we need to apply compensation based on the contents of the hall effect register in order to get useful magnetometer data.
We'll also probably want to store this converted data in flash somewhere, which will mess with our sensor data schema. Contact @ETSells for help on this step.
References
Datasheet: https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmm150-ds001.pdf
Bosch Driver: https://github.com/boschsensortec/BMM150_SensorAPI/tree/master