[Paparazzi-devel] Magnetometer behavior

[Sergey Krukowski]

Hi guys!

As I understand, currently if the magnetometer freezes (for any reason),  
the on_mag_event function will not be called anymore, which leads to slow  
(or even not slow) drift of yaw angle and resulting spinning of the  
rotorcraft. Which could be worse for possible failsafe recovery (because  
even in attitude mode the rotorcraft will spin around), rather than  
updating the ahrs with the last received magnetometer values (in that case  
the yaw angle will stay constant and the rotorcraft at least won't spin  
itself).
If I understand it right, what do you think about possible changing of the  
ahrs architecture in that case or should it better be done on particular  
boards IMU level?

Best regards,
Sergey