EKF3 IMU1 MAG0 ground mag anomaly, yaw re-aligned

ArduCopter
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1

Respected Sir ,

We are eft hexa frame using cube oran firmware with neo3pro gps, so while flying im getting an error EKF3 IMU1 MAG0 ground mag anomaly, yaw re-aligned and my drone is misbehavingband rotating there itself. im attaching the logfile of the same, please letvbme know how i could i overcome this error and to safe fly the drone
Logfile

2

MAGFit gives this improved calibration:

COMPASS_OFS_X,88.53191
COMPASS_OFS_Y,-273.80276
COMPASS_OFS_Z,52.259327
COMPASS_DIA_X,1
COMPASS_DIA_Y,1
COMPASS_DIA_Z,1
COMPASS_ODI_X,0
COMPASS_ODI_Y,0
COMPASS_ODI_Z,0
COMPASS_MOT_X,0.18992919
COMPASS_MOT_Y,3.074688
COMPASS_MOT_Z,11.699928
COMPASS_SCALE,0.94399256
COMPASS_ORIENT,0
COMPASS_MOTCT,2

Is there a reason none of the Cube internal compasses are found? A second compass could be beneficial as a backup.

3

@KATKAM_SHIVASAI Sorry to cut in on the discussion.

@xfacta What calibration method are you using. As if you check below

{6BFB6505-0494-43E7-9674-B792AB47D9BF}
{6BFB6505-0494-43E7-9674-B792AB47D9BF}787Ă—1035 53.3 KB

Then I got Z =580 (out of range, Why magfit's output result is out of parameter range? - #24 by lida2003). The curve are much more close to expected.

{1AE742B7-4FE1-4D5C-A59E-CE80352F276F}
{1AE742B7-4FE1-4D5C-A59E-CE80352F276F}793Ă—1478 68.7 KB

4

In magfit, you scroll down to the bottom of the page, in the bar-graph section you will see which bar is the lowest (best calibration) which is Battery1 Current/Offset+Scale for yours, then scroll back to the top and deselect all calibrations except the good one from the graphs.
Then you “save” that calibration, which gives you the text file you can apply.

You can try different selections to see how that match the expected calibration in the X/Y/Z line graphs.

1 Like
5

Set BRD_BOOT_DELAY,3000 and lets see if we can get all compasses working

The Neo3 Pro should give you an extra baro too, so you’d set that as the primary baro since it will likely be up out of the prop wash.

6

Thanks.

Further more, I have checked this data with offsets, but it’s outof range even if “Existing Calibration” has large MFE than “offset”.

Is this mean “No motor comp offset” method is more likely out of range?

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But why not use the calibrations I gave (or from Battery1 Current/Offset+Scale) ?

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@xfacta It’s OK for @KATKAM_SHIVASAI .

I don’t have current monitor, which leave me no choice. But the result is out of range which can’t be put in MP, as ardupilot doesn’t accept it.

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图片1583×143 9.22 KB

So I’m asking if the “No motor comp offset” method is more likely out of range?

@xfacta Maybe we can discuss this in my thread(Why magfit's output result is out of parameter range? - #24 by lida2003) not here

9

OH I see - two different people! I though I was replying to the same person - I didnt read the names, my fault.

If the compass is close to the main wiring then a current monitor is essential or the compass will never work properly.
You either need to get a working current monitor, or mount the compass (usually in the GNSS unit) further away like on a mast.