Here 2's Compass at COMPASS_DEV_ID3

Here GPS
1

Hello Everyone,

I had a problem about Here 2

When I setup Here 2 and Cube with UAVCAN protocol, Cube detect Here 2’s compass at 3. Compass. There is no other external device plugged.

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When I choose compass 3 as primary compass, I saw warning “Error Compass Variance” in flight. (There is no problem in flight just a warning on mission planner)
When I choose compass 1 as primary compass before flight everything is ok (There is no problem in flight and there is no warning on mission planner) but when I reboot after flight I saw another compass warning which one is “Bad Compass Health”

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Cube is black, firmware is ArduCopter V3.7.0-dev
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How do I get the Here 2 compass to become the first compass?

3

In future versions of ardupilot, can will be found first. But that’s not the case yet.

The best way is to use the mask, and only allow the AK09916

4

@philip - do you have any pointers how to mask correctly with cube black having here2 compass on CAN (as a primary)?

5

In mission planner, go to the parameter, and click on it, a check box will show up… make sure to only let the ones you want start.

The Here2 is the AK09916/7

6

My Here2 is always detected as HMC5883_OLD

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Probably does not matter, but I would like to understand if there is anything behind.

7

It’s not important what that says… as long as CAN is showing up. As it’s using the CAN driver, not the compass driver