# Too much compass varience **URL:** \ **Category:** Cube Autopilot\ **Created:** [4 September 2023 05:50 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805 "2023-09-04T05:50:03Z")\ **Posts on this page:** 20\ **Page:** 2
**Author:** ![shivam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/shivam/32/7043_2.png) [@shivam](https://discuss.cubepilot.org/u/shivam)\ **Post date:** [19 September 2023 10:48 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/24 "2023-09-19T10:48:49Z")
another flight done with suggested parameter > **[2023-09-19 15-03-20.bin](https://drive.google.com/file/d/1zidlwocR_7Jdrd4ZJDTxcAI_eHbJpaoZ/view?usp=sharing)** > > Google Drive file. if mu drone require compass calibration before flight do i have to burn these listed parameter again since the value goes to default . COMPASS\_DIA\_X 0.962 COMPASS\_DIA\_Y 1.046 COMPASS\_DIA\_Z 0.800 COMPASS\_ODI\_X -0.003 COMPASS\_ODI\_Y 0.023 COMPASS\_ODI\_Z 0.044 COMPASS\_OFS\_X 92 COMPASS\_OFS\_Y 280 COMPASS\_OFS\_Z 175 COMPASS\_MOT\_X 7.994 COMPASS\_MOT\_Y -10.000 COMPASS\_MOT\_Z 0.449 COMPASS\_DIA2\_X 1.002 COMPASS\_DIA2\_Y 1.038 COMPASS\_DIA2\_Z 0.800 COMPASS\_ODI2\_X -0.004 COMPASS\_ODI2\_Y -0.023 COMPASS\_ODI2\_Z 0.024 COMPASS\_OFS2\_X 45 COMPASS\_OFS2\_Y -231 COMPASS\_OFS2\_Z 388 COMPASS\_MOT2\_X 0.436 COMPASS\_MOT2\_Y 0.336 COMPASS\_MOT2\_Z 0.165 COMPASS\_SCALE2 1.00 COMPASS\_SCALE 1.00 COMPASS\_MOTCT 2 INS\_ACCEL\_FILTER,10 INS\_HNTCH\_ENABLE,1 INS\_LOG\_BAT\_MASK,1 INS\_LOG\_BAT\_OPT,4 PSC\_ACCZ\_I,0.6 PSC\_ACCZ\_P,0.3 INS\_HNTCH\_BW,20 INS\_HNTCH\_REF,0.35 INS\_HNTCH\_FM\_RAT,0.7 ATC\_THR\_MIX\_MAN,0.5 INS\_HNTCH\_FREQ,83 INS\_HNTCH\_BW,30 ---
**Author:** ![xfacta](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/x/5f8ce5/32.png) [@xfacta](https://discuss.cubepilot.org/u/xfacta)\ **Post date:** [19 September 2023 22:50 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/25 "2023-09-19T22:50:44Z")
There should be no calibration of compasses required, that would be a step backwards. Even if you travel a long way from home compass calibration will NOT be needed - recalibrating the compass for every flight or location is an outdated concept tied to early DJIs. I didnt notice anything different in that log - are you going to try Autotune on pitch and roll axis? ---
**Author:** ![shivam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/shivam/32/7043_2.png) [@shivam](https://discuss.cubepilot.org/u/shivam)\ **Post date:** [20 September 2023 09:47 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/26 "2023-09-20T09:47:27Z")
should i proceed with auto tune my drone, which flight mode to set for auto tune. ---
**Author:** ![shivam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/shivam/32/7043_2.png) [@shivam](https://discuss.cubepilot.org/u/shivam)\ **Post date:** [20 September 2023 09:47 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/27 "2023-09-20T09:47:49Z")
which flight mode to set for auto tune& should i proceed with auto tune my drone ---
**Author:** ![xfacta](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/x/5f8ce5/32.png) [@xfacta](https://discuss.cubepilot.org/u/xfacta)\ **Post date:** [21 September 2023 00:36 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/28 "2023-09-21T00:36:05Z")
You set your flight mode switch to have Autotune as one of the modes, so if it’s a 3 position switch you might have Stabilise, AltHold and Loiter. Then change Loiter to be Autotune in the arducopter parameters. Select the pitch and roll axis using the AUTOTUNE\_AXES parameter. Make sure you have lots of open space, the copter will drift around a lot during autotune, and you can reposition it periodically. Take off and fly around to check everything is working OK in AltHold. Switch to Autotune mode and wait until it completely finishes twitching. DO NOT switch OUT of Autotune mode, just reposition and land with the sticks and throttle as per normal. Wait a few seconds after the copter disarms, then you can change flight modes and test fly. Remember to put back Loiter instead of Autotune once you’ve done all axis. ---
**Author:** ![shivam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/shivam/32/7043_2.png) [@shivam](https://discuss.cubepilot.org/u/shivam)\ **Post date:** [21 September 2023 08:58 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/29 "2023-09-21T08:58:16Z")
done with auto tune sharing bin file of auto tune process and another flight in loiter mode > **[1.rar](https://drive.google.com/file/d/1pETMvEox2URJwnYvammdD-SWJ8TljjSv/view?usp=sharing)** > > Google Drive file. note: i have notices values were same before and after auto tune in PID setting ---
**Author:** ![shivam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/shivam/32/7043_2.png) [@shivam](https://discuss.cubepilot.org/u/shivam)\ **Post date:** [21 September 2023 08:58 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/30 "2023-09-21T08:58:51Z")
> **[1.rar](https://drive.google.com/file/d/1pETMvEox2URJwnYvammdD-SWJ8TljjSv/view?usp=sharing)** > > Google Drive file. done with auto tune sharing bin file of auto tune process and another flight in loiter mode Note: I have notices values were same before and after auto tune in PID setting ---
**Author:** ![xfacta](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/x/5f8ce5/32.png) [@xfacta](https://discuss.cubepilot.org/u/xfacta)\ **Post date:** [25 September 2023 20:52 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/31 "2023-09-25T20:52:01Z")
That’s because Roll autotune was started and never completed, you stopped Autotune before it finished. Keep in mind Autotune will move the copter around a LOT like drifting, make sure you have a big enough clear area so you dont have to reposition much, and no wind. ---
**Author:** ![shivam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/shivam/32/7043_2.png) [@shivam](https://discuss.cubepilot.org/u/shivam)\ **Post date:** [29 September 2023 07:56 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/32 "2023-09-29T07:56:34Z")
thank you for your help after successful auto tune drone was working fine we have integrated lidar system on our drone with its external antenna(lidar) but after integrating our gps is not locking and continuously showing inconsistent compass variance sending bin file for observation > **[1.rar](https://drive.google.com/file/d/1ih-nBrNBEitjMoL65jbycCNfxObPSBsM/view?usp=sharing)** > > Google Drive file. ---
**Author:** ![shivam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/shivam/32/7043_2.png) [@shivam](https://discuss.cubepilot.org/u/shivam)\ **Post date:** [29 September 2023 07:57 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/33 "2023-09-29T07:57:15Z")
> **[1.rar](https://drive.google.com/file/d/1ih-nBrNBEitjMoL65jbycCNfxObPSBsM/view?usp=sharing)** > > Google Drive file. thank you for your help after successful auto tune drone was working fine we have integrated lidar system on our drone with its external antenna(lidar) but after integrating our gps is not locking and continuously showing inconsistent compass variance sending bin file for observation need suggestions ---
**Author:** ![xfacta](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/x/5f8ce5/32.png) [@xfacta](https://discuss.cubepilot.org/u/xfacta)\ **Post date:** [29 September 2023 09:14 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/34 "2023-09-29T09:14:18Z")
Have you powered the LIDAR from a separate BEC (with common ground) ? Also set `BRD_BOOT_DELAY,3000` to ensure CAN-connected devices can sort themselves out before the flight controller completes booting. If the LIDAR is CAN-connected you might need to look up the doco to see how to change its address, or change the GNSS units address. ---
**Author:** ![shivam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/shivam/32/7043_2.png) [@shivam](https://discuss.cubepilot.org/u/shivam)\ **Post date:** [29 September 2023 09:21 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/35 "2023-09-29T09:21:29Z")
our lidar is getting power from distribution board it is externally connected i.e. plug and play we are using pixhawk kore board and supplying power from the power output port. ---
**Author:** ![shivam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/shivam/32/7043_2.png) [@shivam](https://discuss.cubepilot.org/u/shivam)\ **Post date:** [29 September 2023 09:22 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/36 "2023-09-29T09:22:12Z")
we are using pixhawk kore board and supplying power from the power output port. Our lidar is getting power from distribution board it is externally connected i.e. plug and play ---
**Author:** ![shivam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/shivam/32/7043_2.png) [@shivam](https://discuss.cubepilot.org/u/shivam)\ **Post date:** [29 September 2023 09:24 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/37 "2023-09-29T09:24:52Z")
moreover when the lidar is switched off drone gps is locked and when we power on the lidar it continuously shows compass inconsistent ---
**Author:** ![xfacta](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/x/5f8ce5/32.png) [@xfacta](https://discuss.cubepilot.org/u/xfacta)\ **Post date:** [29 September 2023 21:15 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/38 "2023-09-29T21:15:16Z")
The might need more separation - does the LIDAR have a motor for spinning or is it fixed? ---
**Author:** ![shivam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/shivam/32/7043_2.png) [@shivam](https://discuss.cubepilot.org/u/shivam)\ **Post date:** [2 October 2023 10:18 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/39 "2023-10-02T10:18:40Z")
got the solution, drone is working fine I’m sending file for improvement, have done flight with lidar(payload) > **[2023-10-02 10-26-53.bin](https://drive.google.com/file/d/1TOl4tMU3McmfAELj9gLTRFFbCobQjWlf/view?usp=sharing)** > > Google Drive file. ---
**Author:** ![shivam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/shivam/32/7043_2.png) [@shivam](https://discuss.cubepilot.org/u/shivam)\ **Post date:** [2 October 2023 10:18 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/40 "2023-10-02T10:18:54Z")
> **[2023-10-02 10-26-53.bin](https://drive.google.com/file/d/1TOl4tMU3McmfAELj9gLTRFFbCobQjWlf/view?usp=sharing)** > > Google Drive file. got the solution drone is working fine I’m sending file for improvement, have done flight with lidar(payload) ---
**Author:** ![xfacta](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/x/5f8ce5/32.png) [@xfacta](https://discuss.cubepilot.org/u/xfacta)\ **Post date:** [3 October 2023 08:06 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/41 "2023-10-03T08:06:54Z")
Seems good. You could probably do a bit more tuning but it’s Ok and we’ve all seen a lot worse. No need to make two replies - everyone can see everything in the whole thread. ---
**Author:** ![shivam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/shivam/32/7043_2.png) [@shivam](https://discuss.cubepilot.org/u/shivam)\ **Post date:** [9 November 2023 06:13 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/42 "2023-11-09T06:13:22Z")
Hey, I have recently build an agriculture drone/HEXACOPTER conf. as follow: pixhawk cube orange here 3 gps motor X6 plus motors software :qgc(skydriod H12 REMOTE) sending bin file to review > **[2023-11-09 10-11-47.bin](https://drive.google.com/file/d/1-R7Pck-g6FXUKjSVdAGmwiSmkCM5eIkw/view?usp=sharing)** > > Google Drive file. ---
**Author:** ![xfacta](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/x/5f8ce5/32.png) [@xfacta](https://discuss.cubepilot.org/u/xfacta)\ **Post date:** [9 November 2023 07:42 UTC](https://discuss.cubepilot.org/t/too-much-compass-varience/11805/43 "2023-11-09T07:42:57Z")
The hex went to maximum output to get airborne, causing a thrust loss warning, then it seemed to be fine after that. Any reason you noticed? ![image](https://discuss.cubepilot.org/uploads/default/original/2X/6/60cd5f0141da96954f88b440d7fca81e15885cac.png) Stability looks quite good for early stages of this type of build. Vibrations are nice and low. Your battery monitor seems configured wrong: `BATT_VOLT_MULT,936.0623` should probably be: `BATT_VOLT_MULT,12.02` and the current is rising with time even while the copter is landed, as if the Current and Voltage sense wires are swapped around. Definitely fix this before anything else. You could have used the Initial Parmaters calculator in MissionPlanner, but set all these since I worked them out for you: ```auto ATC_ACCEL_P_MAX,40000 ATC_ACCEL_R_MAX,40000 ATC_ACCEL_Y_MAX,16000 BATT_FS_CRT_ACT,1 BRD_BOOT_DELAY,3000 BRD_SAFETY_DEFLT,0 // disable the safety switch if you need to FENCE_ENABLE,1 // check the fence radius and altitude GPS_GNSS_MODE,65 INS_ACCEL_FILTER,10 INS_HNTCH_ENABLE,1 // write this then refresh params to see the rest INS_HNTCH_MODE,1 INS_HNTCH_BW,20 INS_HNTCH_FREQ,40 INS_HNTCH_FM_RAT,0.7 INS_HNTCH_HMNCS,3 INS_HNTCH_REF,0.24 INS_LOG_BAT_MASK,1 INS_LOG_BAT_OPT,4 MOT_BAT_VOLT_MAX,50.40 MOT_BAT_VOLT_MIN,39.60 MOT_PWM_MIN,1050 MOT_PWM_MAX,1950 MOT_THST_EXPO,0.74 PILOT_THR_BHV,7 PSC_ACCZ_I,0.52 PSC_ACCZ_P,0.26 ``` You will **need** to use MissionPlanner Motor Test to recheck your `MOT_SPIN_ARM` is as low as it can reliably go, and `MOT_SPIN_MIN` is just +0.03 higher. Now just do a flight in AltHold and Loiter, mostly hovering and some gentle pitch, roll and yaw - no special aerobatics, barrel rolls or missions. Let’s see that log. [Previous page](https://discuss.cubepilot.org/t/too-much-compass-varience/11805.md?page=1) [Next page](https://discuss.cubepilot.org/t/too-much-compass-varience/11805.md?page=3)