Pixhawk 2 Cube Black w/ Here 2 GPS Coaxial Helicopter, w/ all FC and GPS facing default/forward direction.
FC v1.13.2 and qQC v4.2.4.
Set all sensor rotation to “Internal” and “CAL_MAG_ROT_AUTO” to “Disabled” but in “sensor status” MAG 582895 is instead set to “Ext ROT: 0”. And values for Mag Sensor #0 does not match Sensor #1.
Mag sensors values match only when “CAL_MAG1_ROT” is set to 14 (Roll 180, Yaw 270). I believe IMUs are a pair MPU9250 (SPI 1 and 2) and figuered they would have the same orientation for all acc, mag and gyro (same chip). Is Mag sensor #1 actually coming from Here 2 GPS (ICM20948 and MS5611) instead? When checked “icm20948 status”, it responds “[SPI_I2C] Not Rnning”.
Are the values displayed is “sensor status” original or have they been rotated? What should be the correct setup for my sensors? I would hate to do this but should I repeate the sensor calibration process again?
Thanks,
Ben
nsh> sensors status
selected gyro: 2359330 (0)
validator: best: 0, prev best: 0, failsafe: NO (0 events)
sensor #0, prio: 50, state: OK
val: -0.0003, lp: -0.0015 mean dev: 0.0000 RMS: 0.0017 conf: 1.0000
val: 0.0003, lp: 0.0013 mean dev: 0.0000 RMS: 0.0017 conf: 1.0000
val: 0.0055, lp: 0.0003 mean dev: -0.0000 RMS: 0.0021 conf: 1.0000
sensor #1, prio: 50, state: OK
val: 0.0001, lp: -0.0000 mean dev: 0.0000 RMS: 0.0013 conf: 1.0000
val: 0.0006, lp: 0.0016 mean dev: 0.0000 RMS: 0.0014 conf: 1.0000
val: -0.0034, lp: -0.0009 mean dev: -0.0000 RMS: 0.0013 conf: 1.0000
selected accel: 2359330 (0)
validator: best: 0, prev best: 0, failsafe: NO (0 events)
sensor #0, prio: 50, state: OK
val: -0.1822, lp: -0.2100 mean dev: 0.0000 RMS: 0.0155 conf: 1.0000
val: 0.2729, lp: 0.2869 mean dev: 0.0000 RMS: 0.0173 conf: 1.0000
val: -9.6653, lp: -9.7117 mean dev: -0.0000 RMS: 0.0523 conf: 1.0000
sensor #1, prio: 50, state: OK
val: -0.2162, lp: -0.2009 mean dev: 0.0000 RMS: 0.0147 conf: 1.0000
val: 0.4526, lp: 0.4587 mean dev: -0.0000 RMS: 0.0163 conf: 1.0000
val: -10.5722, lp: -10.5679 mean dev: -0.0001 RMS: 0.0197 conf: 1.0000
[vehicle_magnetometer] selected MAG: 1114146 (0)
validator: best: 0, prev best: 1, failsafe: YES (1 events)
sensor #0, prio: 50, state: OK
val: 0.0597, lp: 0.0581 mean dev: -0.0000 RMS: 0.0036 conf: 1.0000
val: 0.2350, lp: 0.2354 mean dev: -0.0000 RMS: 0.0016 conf: 1.0000
val: 0.3949, lp: 0.3942 mean dev: -0.0000 RMS: 0.0012 conf: 1.0000
sensor #1, prio: 1, state: OK
val: -0.2339, lp: -0.2306 mean dev: -0.0000 RMS: 0.0075 conf: 1.0000
val: -0.0300, lp: -0.0329 mean dev: 0.0000 RMS: 0.0071 conf: 1.0000
val: -0.3655, lp: -0.3639 mean dev: -0.0000 RMS: 0.0069 conf: 1.0000
MAG 1114146 EN: 1, offset: [0.117 -0.025 -0.028], scale: [0.992 0.994 1.022], Internal
MAG 592905 EN: 1, offset: [-0.051 0.026 0.622], scale: [0.987 1.023 0.987], Ext ROT: 0
[vehicle_air_data] selected BARO: 3997706 (0)
validator: best: 0, prev best: 0, failsafe: NO (0 events)
sensor #0, prio: 50, state: OK
val: 99898.0000, lp: 99896.7266 mean dev: -0.0835 RMS: 2.6463 conf: 1.0000
val: 37.6500, lp: 37.6525 mean dev: 0.0012 RMS: 0.0064 conf: 1.0000
val: 119.7420, lp: 119.6044 mean dev: -0.0006 RMS: 0.2226 conf: 1.0000
sensor #1, prio: 50, state: OK
val: 99835.0000, lp: 99832.7266 mean dev: -0.0849 RMS: 2.7849 conf: 1.0000
val: 30.2800, lp: 30.2842 mean dev: 0.0012 RMS: 0.0074 conf: 1.0000
val: 124.7968, lp: 124.9933 mean dev: -0.0008 RMS: 0.2343 conf: 1.0000
BARO 3997706 EN: 1, offset: 0.000, Internal
BARO 3997730 EN: 1, offset: 0.000, Internal
Airspeed status:
no data
[vehicle_acceleration] selected sensor: 2359330, rate: 799.9 Hz, estimated bias: [-0.2229 0.0661 0.0906]
ACC 2359330 EN: 1, offset: [-0.188 0.197 0.384], scale: [1.000 1.000 1.000], Internal
[vehicle_angular_velocity] selected sensor: 2359330, rate: 7999.4 Hz FIFO, estimated bias: [-0.00160 0.00150 0.00006]
GYRO 2359330 EN: 1, offset: [-0.017 0.021 -0.028], Internal
vehicle_angular_velocity: gyro filter: 474117 events, 19334499us elapsed, 40.78us avg, min 25us max 665us 4.323us rms
vehicle_angular_velocity: gyro filter reset: 1 events
vehicle_angular_velocity: gyro selection changed: 1 events
[vehicle_imu] 0 - Accel: 2359330, interval: 1250.0 us (SD 30.4 us), Gyro: 2359330, interval: 1250.0 us (SD 30.4 us)
vehicle_imu: accel data gap: 3 events
vehicle_imu: gyro data gap: 3 events
ACC 2359330 EN: 1, offset: [-0.188 0.197 0.384], scale: [1.000 1.000 1.000], Internal
GYRO 2359330 EN: 1, offset: [-0.017 0.021 -0.028], Internal
[vehicle_imu] 1 - Accel: 2359306, interval: 1250.5 us (SD 1.2 us), Gyro: 2359306, interval: 1250.5 us (SD 1.2 us)
vehicle_imu: accel data gap: 3 events
vehicle_imu: gyro data gap: 3 events
ACC 2359306 EN: 1, offset: [0.049 -0.255 -0.264], scale: [1.000 1.000 1.000], Internal
GYRO 2359306 EN: 1, offset: [0.005 0.014 0.008], Internal