Inav: Free Mag alignment with cli not possible

[brainbubblersbest]

Since a few Days, multiple Problems occured in Inav Facebook Group.
Problem: Users who mounting Magnetometer with Compass on a 30degree Tilt Angle Backwards, are not able to get this working with set mag_align_tilt = 300 or -300.

Or Simply cannot calibrate it if it's mounted flat anyway.

Lot of them build a dozen quads with inav and tiltet/flat mount mag/gps. And now got it only working with a flat mount magnetometer. (EG bn880 with cw270 flip and mag_align_pitch = -300

Or mean this:
// on-board mag alignment. Ignored if externally aligned via *DeciDegrees.

That cw270flip would be ignore and you need to set
Mag_align_pitch = -300
mag_align_roll = 1800
mag_align_yaw = 2700

Or if mag is mounted with cw270 flip
Flip is now roll and values are mean sensor axis itself?

https://github.com/shellixyz/inav/commit/1f8d73c638facfcf07d2ca959f06132fee69f517

[Bednarov]

I also have this problem with magnetometer. I want to mount it on a quadcopter. Angled backwards so when I fly the GPS looks directly up. It allows the unit to see more satelites constantly.

When the GPS+Compass unit (BN-880) is flat, it works perfectly. When it's tilted backwards, after calibration the heading readings are messy.

I tried setting align_mag_pitch to -300, 300 (for 30* angle that I have), calibrating after every change. Also i tried replicating the "CW270Flip" setting, in case that it's ignored when using the pitch angle cli command. Nothing works. I tried current firmware and also INAV 2.2.0

I was calibrating on a 2m cable, so no interference during calibration, also no interference from the quad, because when mounted flat in the same spot mag works perfectly. The tilt is the problem.

[brainbubblersbest]

Hello, just wanna say. I found this in the betaflight Code.
That mean: eg a BN880 with cw270flip results in following values:
flip over pitch axis 180degree and rotate over Yaw axis 270degree=

set mag_align_pitch = 1800
set mag_align_yaw = 2700
save

Means for 30degree backwards tilted, reduce roll at value -300

set mag_align_roll = -300
save

Because Roll Axis of Magnetometer is in relative to pitch axis of FC and vice versa

Also use:
set align_mag = custom
save

#define CUSTOM_ALIGN_CW0_DEG ((sensorAlignment_t){ .values = { .roll = 0, .pitch = 0, .yaw = 0 }})

define CUSTOM_ALIGN_CW90_DEG ((sensorAlignment_t){ .values = { .roll = 0, .pitch = 0, .yaw = 90 }})

define CUSTOM_ALIGN_CW180_DEG ((sensorAlignment_t){ .values = { .roll = 0, .pitch = 0, .yaw = 180 }})

define CUSTOM_ALIGN_CW270_DEG ((sensorAlignment_t){ .values = { .roll = 0, .pitch = 0, .yaw = 270 }})

define CUSTOM_ALIGN_CW0_DEG_FLIP ((sensorAlignment_t){ .values = { .roll = 0, .pitch = 180, .yaw = 0 }})

define CUSTOM_ALIGN_CW90_DEG_FLIP ((sensorAlignment_t){ .values = { .roll = 0, .pitch = 180, .yaw = 90 }})

define CUSTOM_ALIGN_CW180_DEG_FLIP ((sensorAlignment_t){ .values = { .roll = 0, .pitch = 180, .yaw = 180 }})

define CUSTOM_ALIGN_CW270_DEG_FLIP ((sensorAlignment_t){ .values = { .roll = 0, .pitch = 180, .yaw = 270 }})

void buildRotationMatrixFromAlignment(const sensorAlignment_t* alignment, fp_rotationMatrix_t* rm);
void buildAlignmentFromLegacyRotation(sensorAlignment_t

[brainbubblersbest]

Maybe this short hint can be added to the inav Wiki?
Added this short Explanation to the INAV Wiki, so other Users get information of that function.

Can be closed

[alienwaredream]

Hello everyone!
I found something not right in the those CLI
in INAV2.5.0 should be ：
set align_mag_roll = 300
set align_mag_yaw = 900
set align_mag_pitch = 1800

[brainbubblersbest]

And what value is wrong?

[alienwaredream]

align_mag_roll
mag_align_roll

As a rookie, I am a little confused. @@！

[brainbubblersbest]

Im confused too because These cli variables at betaflight are correct. So it seems inav use the variables as you describe. Why i didnt notice that? I Look about that tomorrow.

[brainbubblersbest]

Should be correct now
Bf use also mag_align "custom" which is not existent in inav. Some Times it's confusing if you use multiple inav and bf fcs 😅