Compassmot is running, or has finished
What ArduPilot says:
- Calibration successful
- Starting calibration
- Throttle
- Current
“Starting calibration” opens the motor interference test. The next line says what the correction will follow: “Current” when a battery monitor measures current, “Throttle” otherwise. The motors then follow the throttle stick until the ground station ends the test. “Calibration successful” means the correction was saved: COMPASS_MOTCT (1 throttle, 2 current) and COMPASS_MOT_X, COMPASS_MOT_Y, COMPASS_MOT_Z for each compass.
The motors really spin, and during the test the radio failsafe is switched off. Fix the copter down so that it can neither lift nor tip over, keep clear of the propellers and be ready to drop the throttle.
Parameters to look at
| Parameter | What it is |
|---|---|
COMPASS_MOTCT | Motor interference compensation type |
COMPASS_MOT_X | Motor interference compensation for body frame X axis |
COMPASS_MOT_Y | Motor interference compensation for body frame Y axis |
COMPASS_MOT_Z | Motor interference compensation for body frame Z axis |
BATT_MONITOR | Battery monitoring |
Where to do it:Setup & Tuning Guide
The code that sends it
Calibration successful
ArduCopter/compassmot.cpp Copter::mavlink_compassmot() · Open in ArduPilot Copter-4.7.1
Starting calibration
ArduCopter/compassmot.cpp Copter::mavlink_compassmot() · Open in ArduPilot Copter-4.7.1
Throttle
ArduCopter/compassmot.cpp Copter::mavlink_compassmot() · Open in ArduPilot Copter-4.7.1
Current
ArduCopter/compassmot.cpp Copter::mavlink_compassmot() · Open in ArduPilot Copter-4.7.1