i just acquired a Pixhawk 2.1 with a GPS module “Here” ( bundle available at Skyetech, great serice by the way ) .
I was used to Pixhawk 1 and i must admit i am a bit lost regarding the Compass / GPS setup on this little guy despite searching on the forum.
Here are a coupe of questions, i would be more than happy to compile the infos i can gather here to complete the available PDF from Hex regarding initial setup…
In mission planner (1.3.46) , i installed the beta firmware 3.5 RC4 ( 3.4.6 gave me gyro errors messages) for a quad ( will be the flying guinea pig…)
On the Compass settings, should we select Pixhawk/PX4 or APM with external compass ? I selected PX4. Would be neat to have a simple option " PX2.1 with GPS here" … Compass 1 is setup on " none" regarding orientation mounting by default.
In general compass settings, ok we sure have the comapss 1 as external compass, so i guess we have compass 2 and 3 as internal but here is the thing : i did a calibration with the unit umounted on a frame so GPS “Here” was not attached to the PX2.1 , and the bigger offset i get is on… compass 2 ?? I thought i would get it on compass 1 ( crazy offset) and have close offsets values on compass 2 and 3 as they would be supposed to be built on the same hardware part ( PX2.1) … If someone can enlight my candle, thank you in advance .
So here are my actual settings :
Flight controler type : Pixhawk / PX4
Compass (General) : enabled, primary compass :1, automatic declination
Compass 1: Enabled and none for orientation, externaly mounted
Compass 2 : Enabled
Compass 3: Enabled
I also have a very noob question : When i use the graphs for tuning, and select Mag Field 1, 2 and 3, the magfield 1 and 3 are same direction, but magfield 2 is inverted with magfield 3 on the roll ( same on tilt) ??. I could understand magfield 1 would be inverted ( wrong orientation or mounting) but 2 and 3 ? What would i be missing here ? For me it would mean that compass 2 and 3 ( onboard) would be mounted on up and one down on the PCB , would it be possible that the mags are built ( hardware) one facing up and one facing down and that it would be needed to trick the thing by setting compass 2 as externalwith a roll 180 orientation installation? Sorry for the noob question, for me it would be like compass 2 and 3 fight together most of time so true readings are from compass 1 (external on GPS Here antenna ) and 3 ?
Thank you for any input,