Re: [Paparazzi-devel] heading with AHRS_USE_GPS_HEADING but no GPS connected

[alonso acuña]

Sorry for missing details. I am using Lisa/M with Aspirin 2.2 and I did disable the magnetometer, otherwise I would get the warning about the 2 being active. I do not get any IMU_MAG messages and even commented out the calls in on_mag_event() ,  so I can confirm the mag is not being used.

Even more interesting is that the heading I get from this is much better than the one I get from the mag when it is not calibrated. I have the problem that I need to calibrate it frequently, sometimes daily, for some reason.

On Tue, Feb 11, 2014 at 4:27 PM, Felix Ruess <address@hidden> wrote:

Hi Alonso,

what IMU driver and AHRS algorithm are you using?

Assuming you are e.g. using ahrs int_cmpl_quat, did you disable the magnetometer to use GPS heading instead (via <configure name="USE_MAGNETOMETER" value="FALSE"/>)?

If not, you should get a warning that you should probably disable the mag to use gps heading, as using both could have a bad effect if they don't give you the same heading....

Cheers, Felix

On Tue, Feb 11, 2014 at 8:36 AM, alonso acuña <address@hidden> wrote:

Hello. 

I have seen several interesting things:

 - somehow the heading is accurately calculated even when the GPS is not connected. I cannot understand where the heading value is coming from. 

- when the chip is powered up the heading is set to -BODY_TO_IMU_PSI instead of 0 as documented in the file

 

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