2020-07-17, 09:06 PM
(2020-07-16, 09:29 PM)seandepagnier Wrote: It can be an artifact of compass calibration, or if the user adjusts the compass offset. This is to hopefully hold the same course even though the heading is changing.
It should not jump more than 1 time in 20 seconds. The heading and heading command should change the same amount so as not to have much effect on course.
You could look at the compass calibration age and if it resets to 0 when the heading changes.
All right, I'll put ap.heading, ap.heading_command, and imu.heading on the scope then, keep a sharp eye on the calibration age and see what happens.
But if I'm right, ap.heading_error = ap.heading - ap.heading_command, so when the ap.heading_command is adjusted along with ap.heading, I would not have seen the jumps in ap.heading_error. That would mean that the jumps are not caused by the 2D compass calibration mechanism, but by something else. Couls this be the 3D correction mechanism? How does that tie into all this?
Eager to learn :-) thx!