QGroundControl daily builds support onboard compass cal

If you are running a newer ArduPilot firmware in your vehicle which supports onboard compass calibration QGC now has support for it. It’s fairly easy to use, just click Compass from the Sensors Setup page. After calibration completes you will be shown a quality report on the fitness for each compass. This allows you to decide if you want to turn one or more comapsses off due to bad quality readings:

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