Re: [Paparazzi-devel] Magnetometer offset int_cmpl_quat

[Romney, Jefferson S]

This is the magnetometer calibration from my airframe file:

<section name="IMU" prefix="IMU_">
  <define name="MAG_X_SIGN" value="1"/>
  <define name="MAG_Y_SIGN" value="1"/>
  <define name="MAG_Z_SIGN" value="1"/>
</section>
<section name="AHRS" prefix="AHRS_">
  <define name="H_X" value=" 0.5189098"/>
  <define name="H_Y" value="-0.0565782"/>
  <define name="H_Z" value=" 0.8529546"/>
</section>


________________________________________
From: address@hidden address@hidden on behalf of Felix Ruess address@hidden
Sent: Monday, June 04, 2012 3:28 PM
To: address@hidden
Subject: Re: [Paparazzi-devel] Magnetometer offset int_cmpl_quat

If you have an offset, but a correct mag 
calibration<http://paparazzi.enac.fr/wiki/ImuCalibration#Calibrating_the_Magnetometer>
 and have your local magnetic field set, then the mag axes (or signs) are wrong.
Can you please post your config?

On Mon, Jun 4, 2012 at 10:41 PM, Romney, Jefferson S 
<address@hidden<mailto:address@hidden>> wrote:
I am using the Aspirin v2.1 with a Yapa and because of the calibration problem, 
I use the int_cmpl_quat AHRS algorithm. But the magnetometer is 90 degrees off. 
With this AHRS algorithm, is there any offset that can change only the 
orientation of the magnetometer and not the accelerometer and gyroscope? if 
not, how do I fix it? Changing the IMU_BODY offsets also switches the pitch and 
roll.

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