How to set BCN_ORIENT_YAW?

Hardware Pixhawk family
1

Hello !

I am following these tutorials in order to use a Super Beacon from Marvelmind as GPS:
https://ardupilot.org/copter/docs/common-marvelmind.html


And I am stuck at Set BCN_ORIENT_YAW. I don’t understand how to read the vehicle’s heading from the HUD.
I’m guessing that the HUD is Mission Planner in my case and the value I need is Yaw(deg) which I can take from here:

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But this info is here only when having the drone connected via USB to the PC that runs Mission Planner.
If I stand at the origin holding the vehicle so that it’s nose points towards the second beacon the drone won’t be connected to the PC and I won’t have any info on the HUD, because the origin beacon is not near my PC and it will never be.

Also, there is another way of setting BCN_ORIENT_YAW in one of Marvelmind’s manuals: https://marvelmind.com/pics/marvelmind_navigation_system_manual.pdf

At 9.11. Settings to obtain the correct north direction it says that I can somehow take BCN_ORIENT_YAW as the angle between the Y axis and the real north (while having the lowest address as the origin), measured manually by me in some way or another.

What do you think ?

2

Anybody ? I haven’t managed to figure this out.

3

I have used the Nooploop device on the copter as a beacon device, also confused about the param BCN_ORIENT_YAW the range is -180 to 180, I think the 0 to 180 is from north to south mapping drone yaw 0 to 180(CW) and the 0 to -180 mapping drone yaw 360 to 180 (CCW)