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Re: [Paparazzi-devel] How to BIND EXT MAG Messages to AHRS

From: Rijesh Augustine
Subject: Re: [Paparazzi-devel] How to BIND EXT MAG Messages to AHRS
Date: Wed, 29 Jul 2015 15:38:29 -0600


I am using v5.5.1_testing-148-g5cca43a-dirty.
I pulled earlier today.

I usually use float_cmpl_quat. I tried ABI_FC_MAG_ID but that didn't work.

I then tried int_cmpl_quat with ABI_ICQ_MAG_ID but that also didn't work.

    <subsystem name="ahrs" type="int_cmpl_quat">
      <define name="USE_MAGNETOMETER" value="TRUE"/>
      <!--configure name="AHRS_USE_GPS_HEADING" value="TRUE"/-->
      <define name="F_PROPAGATE_QUAT"/>
      <define name="ABI_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>


On Wed, Jul 29, 2015 at 3:12 PM, Gautier Hattenberger <address@hidden> wrote:

Which version are you using (type ./paparazzi_version) ?

Assuming you are using the latest master version, you can try adding this line to the module configuration:
<define name="ABI_XXX_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>

where XXX should be replaced according to the AHRS filter you're using. Which one is it ?


Le 29/07/2015 21:45, rijesh a écrit :
Hi All,

I have just started using an external MAG with my Lisa MX.

I have the following defined in my airframe file:

     <load name="mag_hmc58xx.xml">
       <define name="MODULE_HMC58XX_UPDATE_AHRS"/>
       <define name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>

In messages the IMU MAG field gets updated by my external Mag, but the PSI
value is still being updated by my onboard MAG.

I am on commit fb9170

Full airframe file


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