Manual

47
7.8 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:
7. Rotate the Marvelmind map using the dashboard, as shown on
the attached screenshot.
8. 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://drive.google.com/open?id=0ByNFYpty-t_CRWxSWmhKTkkzVzg
See section 1.3. The data output comes from UART and the USB (virtual UART)
on the mobile beacon.
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