Navio2 Compass Calibration Yaw Keeps Drifting

Navio / Edge Hardware
1

I have been playing around with the Navio2 on a RPI3. I am just testing the sensors to see how good they are and I plan on putting everything on an RC car.

I was able to test GPS and plotted the data and everything looked fine.

When I went to run the AHRS, the yaw continued to drift (assumed to be compass problem). I went through all of the posts in the forum and tried calibrating several different ways but nothing made the drift of the yaw go away. To be clear, by drift I mean when I set the module down and keep it still, the yaw keeps increasing (or decreasing).

I want to make sure I have been doing this properly. I have both a mac and a PC and have tried on both. Since this seems to be most common, this is what I did on the PC:

Remote

  • ssh into pi@navio
  • run APM: sudo ArduCopter-quad -A udp:192.168.1.2:14550

The raspberry pi is not mounted to anything and ArduRover does not work for me.

Local

  • Open mission planner and connect.
  • Go into compass calibration.
  • Select primary as compass 2
  • Enable automatic declination
  • Only check use this compass under compass #1 and #2
  • Click start in onboard mag cal and move it around until 100%
  • Verify that values changed

I believe the procedure is correct, but I am not seeing any improvement with yaw. How can I fix/troubleshoot this? Any help would be highly appreciated.

2

So you are calibrating compass with ArduPilot, but running the AHRS example? That does only calibrate compass for ArduPilot, not for the example.

3

Oh. I was calibrating the compass for ArduPilot and running the AHRS example.

However, when I calibrate with ArduPilot and look at the yaw in mission planner, the yaw is still diverging. Does the yaw in mission planner not calibrate either?