[muorb] [ekf2] resetQuatStateYaw called
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I get this error: "[muorb] [ekf2] resetQuatStateYaw called:"
I know that this is expected behavior as the UAV stops listening to the compass and uses GPS for heading. My question is to the background of this, as I would LIKE to use the compass.
- Was this done as the power consumption from the motors messes up the heading of the UAV
- If the answer to #1 was yes, I am curious if we could do a compass power compensation: https://docs.px4.io/main/en/advanced_config/compass_power_compensation, or if this was already tried and didnt work
- If we can not listen to the compass at all, I am wondering if there is a recommended way to disable the compass prearm check so that when we land in position mode, and go to takeoff again, the pre-arm checks dont yell at us that our compass is missing. - I know we can program something ourselves, but want to see if there is a recommended way that you guys have looked into. Just dont want to duplicate work.
Any advice would be much welcomed, and thank you for your assistance!
Some logs as well with high rate logging turned on:
https://review.px4.io/plot_app?log=ea8fad6d-1e00-4441-a70b-2726c6e8501b
https://review.px4.io/plot_app?log=fc2f0d95-0ef7-434d-88b2-1b1d8e0243d5 -
@wilkinsaf You can disable compass with SYS_HAS_MAG = 0 and EKF2_MAG_TYPE = 5. But if you enable it and it isn't healthy you won't be able to arm. Power compensation may work, it depends on your particular drone model and use case.
