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[Paparazzi-devel] Magnetometer behavior

From: Sergey Krukowski
Subject: [Paparazzi-devel] Magnetometer behavior
Date: Sat, 29 Nov 2014 02:15:40 +0100
User-agent: Opera Mail/11.61 (Win32)

Hi guys!

As I understand, currently if the magnetometer freezes (for any reason), the on_mag_event function will not be called anymore, which leads to slow (or even not slow) drift of yaw angle and resulting spinning of the rotorcraft. Which could be worse for possible failsafe recovery (because even in attitude mode the rotorcraft will spin around), rather than updating the ahrs with the last received magnetometer values (in that case the yaw angle will stay constant and the rotorcraft at least won't spin itself). If I understand it right, what do you think about possible changing of the ahrs architecture in that case or should it better be done on particular boards IMU level?

Best regards,

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