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Topic: Magnetometer Tilt Compensation for Yaw Axis Using HMC5883L and BMA180 (Read 34753 times) previous topic - next topic


Have you calibrated the Mag to get the offsets?  Remember, in a quadcopter, the mag is between 4 motors, which is going to affect the output.

You will need to pass rad/s for gyro (from memory I'm pretty sure that's what I do for Madgwick) and raw (non G) values for accel.

I've personally never had much success with mags on my quad - they seem to cause drift which affects pitch and roll.

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