[Paparazzi-devel] KROOZ_SD compass problem

[Eduardo lavratti]

Hello Sergey,

when i installed my new laptop with updated PPZ repo the compass not work fine.

This is the original repo MAG axis order:

VECT3_ASSIGN(imu.mag_unscaled, imu_krooz.hmc.data.vect.z, -imu_krooz.hmc.data.vect.x, imu_krooz.hmc.data.vect.y);

Here are my MAG Axis order and it work fine:
VECT3_ASSIGN(imu.mag_unscaled, -imu_krooz.hmc.data.vect.y, imu_krooz.hmc.data.vect.x, imu_krooz.hmc.data.vect.z);



BTW, i added the option "UP_SD" in imu_krooz_c.h because i use the board in up-side down position.
// Default configuration
#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
#ifdef IMU_KROOZ_UPSD
#define IMU_GYRO_P_SIGN  -1
#define IMU_GYRO_Q_SIGN   1
#define IMU_GYRO_R_SIGN  -1
#else
#define IMU_GYRO_P_SIGN   1
#define IMU_GYRO_Q_SIGN   1
#define IMU_GYRO_R_SIGN   1
#endif
#endif
#if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
#ifdef IMU_KROOZ_UPSD
#define IMU_ACCEL_X_SIGN -1
#define IMU_ACCEL_Y_SIGN  1
#define IMU_ACCEL_Z_SIGN -1
#else
#define IMU_ACCEL_X_SIGN  1
#define IMU_ACCEL_Y_SIGN  1
#define IMU_ACCEL_Z_SIGN  1
#endif
#endif
#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
#ifdef IMU_KROOZ_UPSD
#define IMU_MAG_X_SIGN  1
#define IMU_MAG_Y_SIGN -1
#define IMU_MAG_Z_SIGN -1
#else
#define IMU_MAG_X_SIGN  1
#define IMU_MAG_Y_SIGN  1
#define IMU_MAG_Z_SIGN  1
#endif
#endif