I have a hexacopter running arducopter 3.5 on a pixhack FC, and a Here + RTK GPS/Mag. I am witnessing an odd problem. When I power the craft initially, I see on mission planner that the compass is not reporting properly. Sometimes it’s 10-15 degrees off, other times it’s 90 degrees off. If I pick up the craft and rotate it around the z Avis when this happens, the mission planner throws an EKF compass variance error pretty quickly.
The fix that I have been using that always works, is rebooting the pixhack with the ctrl + F “reboot pixhawk” button. (Not cycling battery power)… I then reboot mission planner and reconnect (not sure if the last step is necessary). After mission planner reconnects the compass is reporting correctly and I can move the craft in yaw and get no errors. Pretty frustrating because those compass variance errors have dire consequences sometimes! Any help is greatly appreciated.
Dual 16AH batteries in parallel.
One of the Compass offsets is 200 the other two are below 40.
Using compass 1 marked as external.