MAV_CMD_FIXED_MAG_CAL_YAW support in ArduSub

Blue Robotics Software
1

Hi,

I was wondering if the following command is supported in ArduSub: Messages (common) · MAVLink Developer Guide

When we try to run it on an mro Pixhawk running ArduSub firmware, we get the following response:

Calibrating for yaw 0.0 degrees with mask 0x00
Got COMMAND_ACK: FIXED_MAG_CAL_YAW: UNSUPPORTED

That seems to indicate that it’s not supported, but I wanted to check if maybe we are doing something wrong. We are using the Mavproxy calibration module here: MAVProxy/mavproxy_calibration.py at master · ArduPilot/MAVProxy · GitHub

We’ve modified the function call to use a specific lat,lon location instead of 0,0. The documentation said that using 0,0 specifies to use the current vehicle location and there is no gps module connected to the Pixhawk.

Thanks in advance.

2

Hi @rattasak,

I haven’t worked with MAV_CMD_FIXED_MAG_CAL_YAW before, so not certain. It doesn’t seem to be handled directly by ArduSub’s GCS_Mavlink.cpp, but is defined/handled by the GCS_MAVLink library. I’m not sure if there’s an explicit removal of it from ArduSub somewhere, so I’ve asked internally and will get back to you when I’ve got a response :slight_smile:

EDIT: I was looking in the master branch instead of our release branches. It seems to be a relatively new addition to the common message set, so it’s available in ArduSub 4.1, but not ArduSub 4.0. You should be able to get access to it by downloading/installing Beta from the companion web interface’s System page :slight_smile:

3

Great, thanks for looking into that!

1 Like