EKF affinity setup

ArduCopter Copter 4.6
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1

Hi

So ArduCopter supports upto 3 compass.

I have a Pixhawk which already has the ist8310 ( I might messed up a few numbers) and a gps which has the hmc5883 compass.

I was thinking of connecting a 3rd magnetometer. So I have few questions:

  1. Does Ardupilot support qmc5883 along with the hmc5883 on the same I2C bus.
  2. Can I find i2c addresses on devices connected to the autopilot?
  3. Any other rather cheap compass that uses i2c and can be interfaced together with the hmc5883? The lsm303d?
  4. Since the Pixhawk needs 3.3v signals, is the ams1115 regulator needed or the compass modules have a regulator built-in?
    Thank you!

Edit: I found a module using the mmc5983ma compass and I will try to connect it to the i2c bus.

Edit: compass configuration has been done

2

Why do you need that many? Just put a rm3100 on it, keep it far away from electrical sources and call it a day.

1 Like
4

You can have up to three compasses enabled at the same time, but to you also have to enable three EKF lanes and set sensor affinity to benefit from multiple compasses.

5

Is that possible with only one imu and one barometer?

I have two gps and 3 mags? Isnt gps blending enough? How will the mags be used? 3 lanes using blended gps for all and same imu baro data?

6

Did you read the documentation I linked above ?