Ardupilot Firmware

We use the current Ardupilot ArduPlane stable firmware version (current: 3.9.8)

The firmware is installed on the PixRacer via the QGroundControl Software. https://docs.qgroundcontrol.com/en/SetupView/Firmware.html
Select “ChibiOs - ArduPlane V3.9.8” from drpdown.

Make sure that only the mag sensor in the GPS Module is enabled.
The two mag sensors in the pixracer should be disabled, because there is too much disturbance from the power cable below the autopilot.
When the mRobotics GPS Module (https://store.mrobotics.io/mRo-GPS-u-Blox-Neo-M8N-HMC5983-Compass-p/mro-gps003-mr.htm) is installed with the arrow showing forward, then the mag sensor has a rotation of 90 Degrees Yaw (yes, this is strange).
The parameters have to be setup like this

COMPASS_AUTO_ROT = 2 (Yaw 90 Degrees)
MAG_ENABLE = 1 (flight controller will use the primary compass for heading data)
COMPASS_PRIMARY = 0 (First compass is primary compass)

After the mag setup is changed, the mag sensors have to be calibrated. If you see a “Mag Inconsistent Error” in QGC, then this setup is wrong.

1. Load parameters from –TODO–
2. There may be warnings that parameters were skipped even though they were written anyway.
3. Reboot Vehicle.
4. Export parameter from QGC (.params file)
5. Diff downloaded params with previously loaded params if they are the same. TODO bootcnt, preassure etc.

Geofence is not configurable through QGC. But if a fence was set in Ardupilot Mission Planner, it is updated on vehicle boot.

–TODO–