Re: [Paparazzi-devel] heading with AHRS_USE_GPS_HEADING but no GPS connected

[Felix Ruess]

Hi Alonso,

what IMU driver and AHRS algorithm are you using?

Assuming you are e.g. using ahrs int_cmpl_quat, did you disable the magnetometer to use GPS heading instead (via <configure name="USE_MAGNETOMETER" value="FALSE"/>)?

If not, you should get a warning that you should probably disable the mag to use gps heading, as using both could have a bad effect if they don't give you the same heading....

Cheers, Felix

On Tue, Feb 11, 2014 at 8:36 AM, alonso acuña <address@hidden> wrote:

Hello. 

I have seen several interesting things:

 - somehow the heading is accurately calculated even when the GPS is not connected. I cannot understand where the heading value is coming from. 

- when the chip is powered up the heading is set to -BODY_TO_IMU_PSI instead of 0 as documented in the file

 

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