I witnessed a very strange thing happening today. I turned on my system and arducopter started switching compasses endlessy, from 0 to 1 and back to zero and so on.
Rebooted the system and all was ok.
Since i am using Zubax external magnetometer i guess is still something not ok with uavcan driver.
Arducopter is really a great system but definitely needs the compass stuff to be handled a little bit less confusing for users and easier to setup and actually see what the system is using. After months on compasses i still do not understand it 100%.
My system has 4 compasses, 2 internal in the Cube 2.1 and 2 externally mounted on the Zubaxx GPS. Believe it or not i haven’t been able todate to have the 2 external ones working and the 2 internal not.
Out of 4 magnetometers i really do not understand how the system picks the 3 it can handle, apart from that it is really not clear at all how to disable the internal and make sure the external are ok and working.
Since i regularly read a lot of messages on magnetometers problems wouldn’t be great to make that part of software a bit better to have stronger foundations before implementing new stuff?
Saying “make it better” i do not mean it is not good, i am just saying that for average people it is really obscure and difficult to understand the logic behind how the system uses magnetometers.
I am running AC 3.6 RC12 ChibiOS
just my opinion,