@kn8alpha wrote:
Hello Ardufolks.. I've recently completed my first 450 size APM quad build and finished a couple of hover tests in Stabilize and for the most part it is great. The only issue from the test so far is a slight yaw drift which seems to be uncommanded, from looking at the logs.
One thing that was bothering me is that while roll and pitch stabilization seems to be good, the controller doesn't seem to care about slow yaws (maybe caused by wind) and doesn't correct it, infact when Yaw drifts, DesYaw seems to be catching up to it! I expect it to be other way round?
I'm new to debugging logs, but the auto analysis shows "Large compass offset params". My external GPS+compass module is on a 15cm mast. I did try different kinds of compass live calibration methods, but all seem to be giving the same big offset -
Large compass offset in MAG data (X:66.00, Y:-355.00, Z:-22.00) mag_field interference within limits (24.15%).Is there anything from a hardware perspective I can do to reduce the offsets?
Pic of my setup-
Image may be NSFW.
Clik here to view.
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