Cleanflight - changing Mag orientation

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Katch
Posts: 280
Joined: Thu Aug 04, 2011 1:44 pm

Cleanflight - changing Mag orientation

Post by Katch »

Hi guys,

Had a long long break from Quads but started flying again these past few days and decided to revisit an old problem of a Flight Controller.

I bought on of these 32 bit STM32F103CBT6 Kcopter Flight Controllers that were always pretty poorly supported;

http://www.rcgroups.com/forums/showthread.php?t=1668273

understandably so as they were chinese cloney crap.

But that aside - I'd love to get it actually functional. I've just flashed the Naze32 Cleanflight 1.9.0 on it and it is magically mostly working. On closer inspection however, I notice my Mag is rotated 180 degrees on my IMU compared to the Naze hardware. The MPU6050 is orientated the same way as the Naze hardware.

How do I adjust my firmware to reflect my IMUs Mag configuration please?

Pierre_A
Posts: 35
Joined: Thu May 15, 2014 9:32 am

Re: Cleanflight - changing Mag orientation

Post by Pierre_A »

Katch wrote:Hi guys,

Had a long long break from Quads but started flying again these past few days and decided to revisit an old problem of a Flight Controller.

I bought on of these 32 bit STM32F103CBT6 Kcopter Flight Controllers that were always pretty poorly supported;

http://www.rcgroups.com/forums/showthread.php?t=1668273

understandably so as they were chinese cloney crap.

But that aside - I'd love to get it actually functional. I've just flashed the Naze32 Cleanflight 1.9.0 on it and it is magically mostly working. On closer inspection however, I notice my Mag is rotated 180 degrees on my IMU compared to the Naze hardware. The MPU6050 is orientated the same way as the Naze hardware.

How do I adjust my firmware to reflect my IMUs Mag configuration please?

Use the align_mag command in the cli (value between 0 and 8).
Described here https://github.com/multiwii/baseflight/wiki/CLI-Variables

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