C-Compass
C-Compass is a high-performance industrial anti-interference magnetometer; it integrates a vehicle-grade RM3100 electronic compass and supports the DroneCAN protocol, widely used in unmanned systems such as PX4 or ArduoPilot as an external compass to eliminate magnetic field interference from internal components (cables, batteries, motors e.g.).
Features
- Low noise, low temperature drift, high resolution car grade RM3100 electronic compass
- Advanced magnetic filtering algorithm can effectively eliminate magnetic interference and accurately measure the heading of the device
- Self-developed M4C software architecture, rapid customization and development
- DroneCan bus protocol, supports open source platforms such as PX4/ArduPilot
Data sheet
| C-Compass | |
| MCU | STM32F412 |
| Sensor | RM3100 |
| Software Architecture | CUAV M4C |
| Protocol | DroneCan/UAVCAN |
| Communication rate | 2Mb |
| Refresh rate | 80Hz |
| Noise | 15nT |
| Accuracy | 0.25° (effective value) |
| Repetition accuracy | 0.05° |
| Resolution | 0.01° |
| Sensitivity | 13nT |
| Range | -800 μT to +800 μT |
| Controller type | PX4/ArduPilot(CUAV/Pixhawk e.g.） |
| Interface | GHR-04V-S |
| Operating Voltage | 4.75-5.3V |
| Operating temperature | -20 to 80℃ |
| Operating humidity | 5%~95% (non-condensing) |
| Casing material | Aluminum alloy |
| Weight | 13g |
Pinouts
Hardware connection and installation
Tip
Mount the module away from high-power devices such as motors, ESCs, and batteries, using M2 screws to secure it to the body.
Users guidance
Enabling the C-COMPASS magnetometer requires setting different parameters depending on the controller’s firmware type.
Users guide for ArduPilot
This chapter describes the setup and configuration required to use the C-COMPASS application with a controller running ArduPilot firmware.
Enable Compass.
Run QGroundControl ground station > Vehicle setup > Parameters interface, enter “UAVCAN” to find and set the following parameters.
UAVCAN_ENABLE = Sensors Automatic Config
UAVCAN_SUB_MAG = Enabled
Calibrate compass
- Go to the “Sensors > Compass” page for the visual indicators for calibration.
[TIP] Calibrating the magnetometer requires installing the controller and magnetometer in the vehicle and not moving it until the calibration is complete. For larger vehicles, you can unmount the arm or wing to make it easier to perform the calibration (with the compass away from the arm or wing).
Users guide for ArduPilot
The settings and configurations in this chapter apply to using the C-COMPASS with a flight controller running ArduPilot firmware.
Enable Compass
Run MissionPlanner and go to the Config > FULL Parameter List.
//If connected to CAN1
CAN_P1_DRIVER = 1
//If connected to CAN2
CAN_P2_DRIVER = 1
Missionplanner Compass Page Annotations
- A: Magnetometer information panel. For C-COMPASS, the BUS type is UAVCAN, Externa (external).
- B:You can adjust the order of the compasses by clicking on the up and down arrows, with the first one having the highest priority.
- C:Which magnetometers need to be calibrated (unchecked will not be used or calibrated)?
- D:After adjusting the order of the magnetometers, click on Reboot to restart the controller.
- E:Click on Start Compass Calibration.
Execute compass calibration
- Click the “Start” button to begin the calibration process.
- Drive the vehicle in a “spherical” pattern until the calibration is complete.
- As shown in the diagram below, the system prompts that the calibration is complete.
Tip
To calibrate a magnetometer, install the controller and the magnetometer on the vehicle, and do not move them after the calibration is complete. For larger vehicles, it may be convenient to install robotic arms or wings to facilitate easy execution of the calibration (the compass should be far away from the arms or wings)
Follow us World Drone Market on our YouTube to view more about the CUAV C-Compass.
Leave a comment
You must be logged in to post a comment.