Second compass configuration
Navio2 contains two 9DOF IMU - MPU9250 and LSM9DS1. The latter has lower offsets. In order to use it, you need to enable and calibrate it.
Some of our users had better results with the second compass due to lower offsets. You can try it yourself by setting it as primary.
We're walking you through the steps requeired to perform the onboard compass calibration. It's a newer and a faster method to calibrate compasses.
Although, it's not fully supported by all GCS at the moment, due to an issue in Mission Planner we strongly suggest using this method.
Otherwise, you might get
Compass Variance errors.
- Tick Use this compass in Compass #2 tab
- Click on Start button in Onboard Mag Calibration tab
- Rotate your drone around all axis
- Wait for calibration to complete (the process ends with a message similar to one on the picture attached below)
- Click Accept button (there's a change nothing's going to happen in responce)
- Swith to another view and get back to Compass Calibration
- Verify that offsets that have been calculated in the previous steps have been saved
Voltage and current sensing
If you have original power module connected to Navio2, you can get battery voltage and curent readings from it. Simply press on the "Pixhawk Power Module 90A" in APM Planner to setup voltage and current measurement for APM:
After that you can check in full parameter list that:
BATT_CURR_PIN 3 BATT_VOLT_PIN 2
You should see voltage and current values after a reboot.
Auxiliary function switches
Auxiliary function switches on channels 5-8 are still not supported and could lead to erroneous PWM generation on motors' channels. We do ask to NOT SET AUXILIARY FUNCTION SWITCHES TO RC5..8.
As other ArduPilot configuration procedures are very similar for most APM-running autopilot hardware, please use the APM documentation.