composate heading using mpu6050+HMC5883L

Using Arduino Programming Questions
1

Hello there i'm working on a project, that i use 10 DOF mpu6050 /HMC5883L/BMP180.
i used this code mpu_6050/hmc5883l

i'm searching on the internet to find the formula about the tilt composation so i find this formula

Code: [Select]
// tilt compensated magnetic sensor measurements
float magxcomp = Magxcos(Pitch)+Magzsin(Pitch);
float magycomp = Magxsin(Roll)sin(Pitch)+Magycos(Roll)-Magzsin(Roll)*cos(Pitch);

problem is that the heading is not comosated. when i did a roll or a pitch the value of the heading change, so i want to fix this prblem, i want the value of heading stay correct event i did a pitch or a roll.
thanks

is there something wrong with the formula ??
i'mo working on autonomous flight so i need the correct value of heading, please helpe

2

Please help :frowning:

3

The answer was given in your earlier, identical post on the topic.

4

i tried to use this formula "m for the magnet field"

float Yh = my * cos(pitch) - mz * sin(pitch);
float Xh = mx* cos(roll) + mz * sin(pitch) * sin(roll) + mz* (pitch) * sin(roll);
heading = atan2(Yh, Xh);
if (heading < 0) heading += 2 * M_PI;
i tried a lot of test but idid'nt recognize the probleme

here it is my test

when the heading is between 250 and 300 degrees. the tilt composation works fine when i do a negative ROLL. but if a do a positive ROLL or positive and negative PITCH it does'nt composate.
when the heading is on 0 degrees, the tilt composaton works fine when i do a negative PITCH. but if a do a positive PITCH or positive and negative ROLL it does'nt composate.

is there something wrong with the formula
please help

5

Maybe you have pitch and roll defined differently than as used in the formula. Study the links that I posted in your other thread.

You MUST calibrate the magnetometer for tilt compensation (note the spelling) to work.

6

You MUST calibrate the magnetometer for tilt compensation

how do i to calibrate the magnetometer?? please

7

Here is the best method. Google will show you others, but I'll bet you didn't try.

8

thanks you for the idea. i did some change and now the heading is a litle bit componsated but still getting error and i think is due to the calibartion. i didn't finde a code that calibarte my magnetometer.

could you help me how to code the calibartion of hmc5883l please