Here GPS, external magnetometer not detected by px4

#1

Hello,

I’m using pixhawk 2.1 from profiCNC with here GNSS and I’m not able to detect the external compass.

I have tried the px4 software fmuv2 1.7.0 default and LPE and fmuV3 1.7.3 default with no success at all.
This is not the first time I do calibrate pixhawk 2.1 and I’m pretty used with sensor calibration in QGroundControl.

When using nsh ‘sensors status’ command line I only see 3 compasses.
If I unplug the GPS, restart pixhawk and retry the same command, only 3 mag sensors are visible.

In stock I do have another HERE GPS which is working fine (4 mag sensors detected)

I have made a teardown and here are the differences :
Working one | No working one
Mag 1 and 3 are populated | Mag 4 is populated
1709 printed on top PCB | 1721 printed on top of PCB

Here are the reference on top of the magnetomer 4 chip
l2945
752LCI
1716

Is this magnetometer sensor not supported yet ?

Thank you

#2

I do the question and answer :slight_smile:

The magnetomter 4 looks like an ICM20948. In which case, support in px4 is due to release 1.8.0 :

#3

We are developing a drone with the Here Plus GPS mag. As of today the code for the Here Plus does NOT work on the Pixhawk 2 with PX4.
The PR for that driver was rejected (last I saw) due to build failures. I merged it into the latest version of PX4 and was able to get the GPS and mag recognized however no valid data was being returned by the mag.

#4

Any update on this? Is the HERE Plus GPS mag detected by PX4? I’m trying to use it but also see only 3 mags detected by PX4…