Hi,
I just would like to confirm all is done well.
I have 2 compasses, onboard and external.
External is mounted upside down, X points left and Y points front of vehicle.
Both calibrated and mx,my,mz parameters log as expected. (nose up, right roll, Z is positive as it should be).
So all seems to work well but external compass is marked as Yawed 180 … that’s not true or prints onboard are wrong.
Some compasses are YAW180 at the PCB level (Compass orientation is different from arrow on the package). That is normal. But they are always upside up. Yours is upside down, so all bets are off.
Did the compass calibration dance work?
Yes, I calibrated and it went ok.
Test it out, but you are the first to use it upside down.
That’s my way, strange boards, strange compass location, old PPM receivers, old motors, strange soft mods, just strange tester life.
When you can see the compass IC on the PCB, typically SOT8 or some QFP8, you’re looking down on the Z Axis and Z Axis should face towards ground. Yaw180 may say that the compass X faces into the opposite direction of your FC.
Page 5 bottom.
I believe I have one QMC5883L where the FC faces backwards and Yaw90 is the result.
And I have another one where the FC faces the same direction and Yaw270 is the result.
AFAIK the orientation is relative to IMU[0]. If both your FC and the Compass face the front, then this is also the orientation on the PCB.
I went through my setups and I have a Holybro M10 GPS with IST8310 where orientation is Yaw270. This was exchanged against a BZ-251 with QMC5883L where orientation is None (not rotated) and a WS-181 with QMC5883L where the FC is backwards and Yaw90 results as orientation.
It appears it does’t matter at the end.
I do not understand why my compass alignment is stored as Yaw180 in params file and MP (after calibration)
This is compass PCB. It’s mounted Y+ front but rotated upside down so X+ left Z+ down.
It seems to me it should be Roll 0°, Pitch 180°, Yaw 90°
from std AP position
Or it does not matter after calibration?
If by any chance, the IMU[0] of your FC is also upside down, this can make sense.
