Mag drifting

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JeremiahBoye

Hi there I'm new to D Ronin but not new to the openpilot format I just set up GPS on my cinetank mk2 went through the six point calibration process exactly as shown I was away from All Metals and low magnetic interference my GPS is located 5 cm above two motor cables that run through carbon fiber arms and 12 CM from the power distribution board I also used a spirit level to calibrate my accelerometers the motor wires are braided to help with electromagnetic interference the flight controller I am using is the brain fpv re1 and also the brain stackable power distribution board the GPS I am using is a holybro m8n with internal magnetometer when I engage position hold my Quadcopter wants to drift in any direction not the toilet bowl effect but it wanders to the right or to the left whichever way it desires even backwards or forwards when I check the flight data the compass is also drifting what could I do to stop this any help will be much appreciated I will attach photos of my setup the camera in front of the GPS is not turned on thank you love this project

raemin

I've been playing with a sparky clone and came to the conclusion that unless a GOOD magnetometer is used, setting up navigation is a real pain. If you experience mag drift in the logs there is no way you can fix this through software settings.

Here are a few links you could use (including posts to my own findings), but as said, the mag must be reliable. Given the low precision of my mag I tried to define a "loose" approach (allow the aircraft to be reasonably off-track) and reduce aggressiveness in navigation corrections, which helped a bit but, the aircraft was then unable to fight against the wind. Tinkering was fun, but unsuccessful. Lesson learned: navigation requires good hardware.

https://github.com/d-ronin/dRonin/wiki/User-Guide:-Preparing-for-Navigation
https://forum.dronin.org/forum/d/12-assitance-on-setting-up-navigation
https://groups.google.com/forum/#!topic/dronin/j5510URf6AU

Hope this helps

mlyle

Writing good magnetometer calibration code is on my to-do list.

JeremiahBoye

Sounds good thank you for the help I reset all my settings to default ran the setup wizard again and my magnetometer without doing the calibration is reading correct but as before I did the reset after calibrating the magnetometer it was drifting I did the calibration exactly according to the pictures on a calibration tap I will keep playing with it and see what I can make of it but I do have to say the code has gotten so much better since the original openpilot it is the difference between night and day you guys are doing awesome keep up the good work