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Re: [Paparazzi-devel] Use magnetometer or not for an airplane?

From: Chris
Subject: Re: [Paparazzi-devel] Use magnetometer or not for an airplane?
Date: Sun, 02 Jun 2013 19:26:09 +0300
User-agent: Mozilla/5.0 (X11; Linux i686; rv:17.0) Gecko/20130510 Thunderbird/17.0.6

Hi Heinrich
I found the problem.
I was setting the "mag_valid" variable and this triggers the magnetometer code to scale the values and pass them to the imu structure despite the "USE_MAGNETOMETER" DEFINITION. I also wrote another pice of code in order to calibrate and use the magnetometer as a simple compass so i can direct the airborne antenna using the magnetometer rather than the "gps_course" What i do is first detect the wind direction with the pitot tube, then fly in to the wind and record the gps_course and MAG_Heading measurements and finally calculate the difference and adjust the MAG_Heading measurement accordingly so both measurements are equal (with normalization of course).
This way MAG_Heading - gps_course = real_yaw (i think :-)  )
I am thinking a similar calibration on the ground so i can avoid the airborne calibration.
DO you think that this method is correct in general?

On 06/02/2013 07:00 PM, address@hidden wrote:
Use magnetometer or not for an airplane?

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