Re: [Paparazzi-devel] How to BIND EXT MAG Messages to AHRS

[rijesh]

Hi all,

I am having issues with this bit of code again. It was working fine in July
but now it doesn't seem to be working.

I decided to pull to the latest code and try to sort it out from there. I am
on v5.7_devel-236-g426d50c. 

I have an external HMC5883 plugged into my i2c2 line on my Lisa MX. 
The IMU MAG message in the Messages window changes with the orientation of
the external HMC5883.
The psi message is still being updated by the Aspirin Mag.

My config at build time seems to have the correct config:
subsystems/ahrs/ahrs_float_cmpl_wrapper.c:94:1: note: #pragma message:
Config: AHRS_FC_IMU_ID = 255
 PRINT_CONFIG_VAR(AHRS_FC_IMU_ID)
 ^
subsystems/ahrs/ahrs_float_cmpl_wrapper.c:101:1: note: #pragma message:
Config: AHRS_FC_MAG_ID = 2
 PRINT_CONFIG_VAR(AHRS_FC_MAG_ID)

I have this defined for my ahrs:
    <subsystem name="ahrs" type="float_cmpl_quat">
      <define name="ASPIRIN_2_DISABLE_MAG" value="TRUE" />
      <define name="USE_MAGNETOMETER" value="TRUE"/>
      <define name="AHRS_FC_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>
    </subsystem>

and I have this defined in my module section:

    <load name="mag_hmc58xx.xml">
      <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE" />
      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
    </load>

Here is my full airframe file:
http://pastebin.com/Sh3mi4WN



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