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Which one is the correct way to calibrate compass?

@spirit wrote:

I'm now calibrating my hexacopter's compass

My FC is Pixhawk Cube.

I found "Live Calibration" button is missing
(I calibrated APM clone's compass with live cali)

and found out I have to do "Onboard Mag Cali"

I found only one calibration method in youtube.

and find out that it is different from Ardupilot.org

http://ardupilot.org/copter/docs/common-compass-calibration-in-mission-planner.html

which one is the correct way?

I followed Ardupilot.org and it fails....

and in Ardupilot.org there are no mention about entering onboard cali.

in youtube, there are easy way to turn on onboard mag cali

but not in ardupilot.org.....

and "live calibration" method is the same.
If I follows Ardupilot.org insturction, calibration continously fails....

by the way I'm always adore Ardupilot Team and enjoying flight with Pixhawk.

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