Re: [Paparazzi-devel] quadroter spektrum example firmwares

[Felix Ruess]

Hi Jake,

some AHRS subsystems [1] like int_cmpl_quat use the normalized vector of the local magnetic field to compute the heading [2].

You can either set this "by hand" for the location you fly in your airframe file, or let the geo_mag module compute it for you (takes a little time at startup).

No additional/different hardware needed, just the mag...

Hope that helps,

Felix

[1] https://wiki.paparazziuav.org/wiki/Subsystem/ahrs

[2] https://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field

On Wed, Jan 29, 2014 at 8:53 PM, Jake Tarren <address@hidden> wrote:

Felix,

Thanks for the link.  It's an interesting read, but I'm still a bit unclear on what the geo_mag module does.  It seems like it's an automated calibration thing?

Both the example firmwares are still in the git, so you'd recommend using the geo_mag one?  Does it require any additional/ different hardware?

On Wed, Jan 29, 2014 at 5:20 AM, Felix Ruess <address@hidden> wrote:

Hi Jake,

I guess we can remove one of the examples...

The geo_mag module sets the local magnetic field vector at startup when you get a gps fix.

See http://docs.paparazziuav.org/latest/module__geo_mag.html

Cheers, Felix

On Wed, Jan 29, 2014 at 2:07 AM, Jake Tarren <address@hidden> wrote:

I checked the wiki, and I read the actual .xml files, and it seems like the only difference is the geo mag module before the servos driver=PPM section.

What's the geo mag module for?  What different hardware do I need for it?

Thanks.

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