Operation Manual

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9.8 Settings to obtain correct north direction
- In some cases, it is necessary to obtain a correct north orientation of the map
for NMEA output from Marvelmind system. For example, when using a
Marvelmind mobile beacon as the navigation data source for Pixhawk installed
on a copter, correct north is required for correct yaw control of the copter. The
Marvelmind system cannot determine north automatically, so the user should
make corrections after building and freezing the map. It can be done in one of
two ways:
1. Rotate the Marvelmind map using the dashboard, as shown on the
attached screenshot
2. You can also view the video:
https://www.youtube.com/watch?v=AsYXrtg7aVU&feature=youtu.be
- Enter the angle correction (the angle shown on screenshot) on the Pixhawk side
from the Mission Planner of APM Planner
- Refer to the parameter "BCN_ORIENT_YAW":
http://ardupilot.org/copter/docs/parameters.html?highlight=bcn_orient_yaw
- Beacons may issue raw sensor data. To learn how to obtain this data, please
check this protocol:
https://marvelmind.com/pics/marvelmind_beacon_interfaces.pdf
- You can receive the data byte-by-byte and check for the required packet header
- See an example here:
http://www.marvelmind.com/downloads/2017_02_08_C_example.zip.