I was, and still need to tune my steering, but in the process I noticed my rover in Mission Planner was not pointed in the actual, correct direction of travel. I am also getting “Error Compass Variance” messages. In the image attached you can see the rover pointed off the driveway when in fact the rover is actually driving straight down the driveway. In the image I am using manual mode. I have what I believe is a standard setup where the Pixhawk arrow is on the top side and pointing to the front of the rover. The GPS is also pointing to the front of the rover. I recalibrated using live calibration thinking that would help, but it did not. My settings are also below.
COMPASS_ORIENT,8 was set, I believe, automatically when I followed the configuration wizard.
Any suggestions?
#NOTE: 1/1/2016 3:25:06 PM Frame :
AHRS_COMP_BETA,0.1
AHRS_EKF_USE,0
AHRS_GPS_GAIN,1
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.2
AHRS_TRIM_X,0.001134573
AHRS_TRIM_Y,0.03313111
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.2
AUTO_KICKSTART,0
AUTO_TRIGGER_PIN,-1
BATT_AMP_OFFSET,0
BATT_AMP_PERVOLT,18.0018
BATT_CAPACITY,3300
BATT_CURR_PIN,3
BATT_MONITOR,4
BATT_VOLT_MULT,10.1
BATT_VOLT_PIN,2
BATT2_AMP_OFFSET,0
BATT2_AMP_PERVOL,17
BATT2_CAPACITY,3300
BATT2_CURR_PIN,3
BATT2_MONITOR,0
BATT2_VOLT_MULT,10.1
BATT2_VOLT_PIN,2
BRAKING_PERCENT,0
BRAKING_SPEEDERR,3
BRD_PWM_COUNT,4
BRD_SAFETYENABLE,1
BRD_SBUS_OUT,0
BRD_SER1_RTSCTS,2
BRD_SER2_RTSCTS,2
CAM_DURATION,10
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_DIST,0
CAM_TRIGG_TYPE,0
CH7_OPTION,1
CLI_ENABLED,0
COMPASS_AUTODEC,1
COMPASS_DEC,0
COMPASS_DEV_ID,73225
COMPASS_DEV_ID2,131594
COMPASS_DEV_ID3,0
COMPASS_EXTERN2,0
COMPASS_EXTERN3,0
COMPASS_EXTERNAL,0
COMPASS_LEARN,0
COMPASS_MOT_X,0
COMPASS_MOT_Y,0
COMPASS_MOT_Z,0
COMPASS_MOT2_X,0
COMPASS_MOT2_Y,0
COMPASS_MOT2_Z,0
COMPASS_MOT3_X,0
COMPASS_MOT3_Y,0
COMPASS_MOT3_Z,0
COMPASS_MOTCT,0
COMPASS_OFS_X,-139
COMPASS_OFS_Y,7
COMPASS_OFS_Z,67
COMPASS_OFS2_X,249
COMPASS_OFS2_Y,-75
COMPASS_OFS2_Z,160
COMPASS_OFS3_X,0
COMPASS_OFS3_Y,0
COMPASS_OFS3_Z,0
COMPASS_ORIENT,8
COMPASS_ORIENT2,0
COMPASS_ORIENT3,0
COMPASS_PRIMARY,0
COMPASS_USE,1
COMPASS_USE2,1
COMPASS_USE3,0
CRUISE_SPEED,2
CRUISE_THROTTLE,30
EKF_ABIAS_PNOISE,5E-05
EKF_ACC_PNOISE,0.25
EKF_ALT_NOISE,1
EKF_ALT_SOURCE,1
EKF_EAS_GATE,10
EKF_EAS_NOISE,1.4
EKF_FALLBACK,1
EKF_FLOW_DELAY,25
EKF_FLOW_GATE,5
EKF_FLOW_NOISE,0.15
EKF_GBIAS_PNOISE,8E-06
EKF_GLITCH_ACCEL,150
EKF_GLITCH_RAD,15
EKF_GND_GRADIENT,2
EKF_GPS_TYPE,0
EKF_GYRO_PNOISE,0.015
EKF_HGT_GATE,10
EKF_MAG_CAL,1
EKF_MAG_GATE,3
EKF_MAG_NOISE,0.05
EKF_MAGB_PNOISE,0.0003
EKF_MAGE_PNOISE,0.0003
EKF_MAX_FLOW,2.5
EKF_POS_DELAY,220
EKF_POS_GATE,10
EKF_POSNE_NOISE,0.5
EKF_RNG_GATE,5
EKF_VEL_DELAY,220
EKF_VEL_GATE,5
EKF_VELD_NOISE,0.7
EKF_VELNE_NOISE,0.5
EKF_WIND_PNOISE,0.1
EKF_WIND_PSCALE,0.5
FORMAT_VERSION,16
FS_ACTION,2
FS_GCS_ENABLE,0
FS_THR_ENABLE,1
FS_THR_VALUE,910
FS_TIMEOUT,5
GCS_PID_MASK,0
GND_ABS_PRESS,101933.2
GND_ALT_OFFSET,0
GND_TEMP,13.80432
GPS_AUTO_SWITCH,1
GPS_INJECT_TO,127
GPS_MIN_DGPS,100
GPS_MIN_ELEV,-100
GPS_NAVFILTER,8
GPS_RAW_DATA,0
GPS_SBAS_MODE,2
GPS_SBP_LOGMASK,-256
GPS_TYPE,1
GPS_TYPE2,0
INITIAL_MODE,0
INS_ACC2OFFS_X,0.345688
INS_ACC2OFFS_Y,0.4524105
INS_ACC2OFFS_Z,0.6036284
INS_ACC2SCAL_X,1.036154
INS_ACC2SCAL_Y,1.00466
INS_ACC2SCAL_Z,1.034785
INS_ACC3OFFS_X,0
INS_ACC3OFFS_Y,0
INS_ACC3OFFS_Z,0
INS_ACC3SCAL_X,0
INS_ACC3SCAL_Y,0
INS_ACC3SCAL_Z,0
INS_ACCEL_FILTER,10
INS_ACCOFFS_X,-0.007491947
INS_ACCOFFS_Y,-0.0949968
INS_ACCOFFS_Z,0.4480324
INS_ACCSCAL_X,1.000313
INS_ACCSCAL_Y,0.9990911
INS_ACCSCAL_Z,0.9901838
INS_GYR2OFFS_X,0.001032371
INS_GYR2OFFS_Y,0.03522624
INS_GYR2OFFS_Z,-0.004727714
INS_GYR3OFFS_X,0
INS_GYR3OFFS_Y,0
INS_GYR3OFFS_Z,0
INS_GYRO_FILTER,10
INS_GYROFFS_X,0.02405556
INS_GYROFFS_Y,0.006509465
INS_GYROFFS_Z,-0.001410567
INS_PRODUCT_ID,5
LEARN_CH,7
LOG_BITMASK,65535
MAG_ENABLE,1
MIS_RESTART,0
MIS_TOTAL,7
MNT_ANGMAX_PAN,4500
MNT_ANGMAX_ROL,4500
MNT_ANGMAX_TIL,4500
MNT_ANGMIN_PAN,-4500
MNT_ANGMIN_ROL,-4500
MNT_ANGMIN_TIL,-4500
MNT_DEFLT_MODE,3
MNT_JSTICK_SPD,0
MNT_K_RATE,5
MNT_LEAD_PTCH,0
MNT_LEAD_RLL,0
MNT_NEUTRAL_X,0
MNT_NEUTRAL_Y,0
MNT_NEUTRAL_Z,0
MNT_OFF_ACC_X,0
MNT_OFF_ACC_Y,0
MNT_OFF_ACC_Z,0
MNT_OFF_GYRO_X,0
MNT_OFF_GYRO_Y,0
MNT_OFF_GYRO_Z,0
MNT_OFF_JNT_X,0
MNT_OFF_JNT_Y,0
MNT_OFF_JNT_Z,0
MNT_RC_IN_PAN,0
MNT_RC_IN_ROLL,0
MNT_RC_IN_TILT,0
MNT_RETRACT_X,0
MNT_RETRACT_Y,0
MNT_RETRACT_Z,0
MNT_STAB_PAN,0
MNT_STAB_ROLL,0
MNT_STAB_TILT,0
MNT_TYPE,0
MODE_CH,8
MODE1,0
MODE2,2
MODE3,10
MODE4,4
MODE5,15
MODE6,0
NAVL1_DAMPING,0.75
NAVL1_PERIOD,9
PIVOT_TURN_ANGLE,30
RC1_DZ,30
RC1_MAX,2006
RC1_MIN,982
RC1_REV,1
RC1_TRIM,1500
RC10_DZ,0
RC10_FUNCTION,0
RC10_MAX,1900
RC10_MIN,1100
RC10_REV,1
RC10_TRIM,1500
RC11_DZ,0
RC11_FUNCTION,0
RC11_MAX,1900
RC11_MIN,1100
RC11_REV,1
RC11_TRIM,1500
RC12_DZ,0
RC12_FUNCTION,0
RC12_MAX,1900
RC12_MIN,1100
RC12_REV,1
RC12_TRIM,1500
RC13_DZ,0
RC13_FUNCTION,0
RC13_MAX,1900
RC13_MIN,1100
RC13_REV,1
RC13_TRIM,1500
RC14_DZ,0
RC14_FUNCTION,0
RC14_MAX,1900
RC14_MIN,1100
RC14_REV,1
RC14_TRIM,1500
RC2_DZ,0
RC2_FUNCTION,0
RC2_MAX,2006
RC2_MIN,982
RC2_REV,1
RC2_TRIM,1494
RC3_DZ,30
RC3_MAX,2006
RC3_MIN,982
RC3_REV,1
RC3_TRIM,982
RC4_DZ,0
RC4_FUNCTION,0
RC4_MAX,2006
RC4_MIN,982
RC4_REV,1
RC4_TRIM,1494
RC5_DZ,0
RC5_FUNCTION,0
RC5_MAX,2006
RC5_MIN,982
RC5_REV,1
RC5_TRIM,982
RC6_DZ,0
RC6_FUNCTION,0
RC6_MAX,2006
RC6_MIN,982
RC6_REV,1
RC6_TRIM,982
RC7_DZ,0
RC7_FUNCTION,0
RC7_MAX,2006
RC7_MIN,982
RC7_REV,1
RC7_TRIM,982
RC8_DZ,0
RC8_FUNCTION,0
RC8_MAX,2006
RC8_MIN,982
RC8_REV,1
RC8_TRIM,982
RC9_DZ,0
RC9_FUNCTION,0
RC9_MAX,1900
RC9_MIN,1100
RC9_REV,1
RC9_TRIM,1500
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RELAY_DEFAULT,0
RELAY_PIN,54
RELAY_PIN2,55
RELAY_PIN3,-1
RELAY_PIN4,-1
RNGFND_DEBOUNCE,2
RNGFND_FUNCTION,0
RNGFND_GNDCLEAR,10
RNGFND_MAX_CM,700
RNGFND_MIN_CM,20
RNGFND_OFFSET,0
RNGFND_PIN,-1
RNGFND_PWRRNG,0
RNGFND_RMETRIC,1
RNGFND_SCALING,3
RNGFND_SETTLE,0
RNGFND_STOP_PIN,-1
RNGFND_TRIGGR_CM,100
RNGFND_TURN_ANGL,45
RNGFND_TURN_TIME,1
RNGFND_TYPE,0
RNGFND2_FUNCTION,0
RNGFND2_GNDCLEAR,10
RNGFND2_MAX_CM,700
RNGFND2_MIN_CM,20
RNGFND2_OFFSET,0
RNGFND2_PIN,-1
RNGFND2_RMETRIC,1
RNGFND2_SCALING,3
RNGFND2_SETTLE,0
RNGFND2_STOP_PIN,-1
RNGFND2_TYPE,0
RSSI_PIN,-1
RST_SWITCH_CH,0
SCHED_DEBUG,0
SERIAL0_BAUD,115
SERIAL1_BAUD,57
SERIAL1_PROTOCOL,1
SERIAL2_BAUD,57
SERIAL2_PROTOCOL,1
SERIAL3_BAUD,38
SERIAL3_PROTOCOL,5
SERIAL4_BAUD,38
SERIAL4_PROTOCOL,5
SKID_STEER_IN,0
SKID_STEER_OUT,0
SKIP_GYRO_CAL,0
SPEED_TURN_DIST,2
SPEED_TURN_GAIN,50
SPEED2THR_D,0.2
SPEED2THR_I,0.2
SPEED2THR_IMAX,4000
SPEED2THR_P,0.7
SR0_EXT_STAT,2
SR0_EXTRA1,6
SR0_EXTRA2,6
SR0_EXTRA3,2
SR0_PARAMS,10
SR0_POSITION,2
SR0_RAW_CTRL,1
SR0_RAW_SENS,2
SR0_RC_CHAN,2
SR1_EXT_STAT,2
SR1_EXTRA1,6
SR1_EXTRA2,6
SR1_EXTRA3,2
SR1_PARAMS,10
SR1_POSITION,2
SR1_RAW_CTRL,1
SR1_RAW_SENS,2
SR1_RC_CHAN,2
SR2_EXT_STAT,1
SR2_EXTRA1,1
SR2_EXTRA2,1
SR2_EXTRA3,1
SR2_PARAMS,10
SR2_POSITION,1
SR2_RAW_CTRL,1
SR2_RAW_SENS,1
SR2_RC_CHAN,1
SR3_EXT_STAT,1
SR3_EXTRA1,1
SR3_EXTRA2,1
SR3_EXTRA3,1
SR3_PARAMS,10
SR3_POSITION,1
SR3_RAW_CTRL,1
SR3_RAW_SENS,1
SR3_RC_CHAN,1
STEER2SRV_D,0.005
STEER2SRV_FF,3.9
STEER2SRV_I,0.2
STEER2SRV_IMAX,1500
STEER2SRV_MINSPD,1
STEER2SRV_P,30
STEER2SRV_TCONST,0.5
SYS_NUM_RESETS,134
SYSID_MYGCS,255
SYSID_SW_TYPE,20
SYSID_THISMAV,1
TELEM_DELAY,0
THR_MAX,50
THR_MIN,0
THR_SLEWRATE,100
TURN_MAX_G,2
WP_RADIUS,4