100
UM001
8
Hard/Soft Iron Estimator Subsystem
8.1
Configuration Registers
8.1.1
Magnetometer Calibration Control
Magnetometer Calibration Control
Register ID : 44
Access : Read / Write
Comment : Controls the magnetometer real-time calibration algorithm.
Size (Bytes): 4
Example Response: $VNRRG,44,1,2,5*69
Offset
Name
Format
Unit
Description
0
HSIMode
uint8
-
Controls the mode of operation for the onboard real-time
magnetometer hard/soft iron compensation algorithm.
1
HSIOutput
uint8
-
Controls the type of measurements that are provided as
outputs from the magnetometer sensor and also subsequently
used in the attitude filter.
2
ConvergeRate
uint8
-
Controls how quickly the hard/soft iron solution is allowed to
converge onto a new solution. The slower the convergence
the more accurate the estimate of the hard/soft iron solution.
A quicker convergence will provide a less accurate estimate of
the hard/soft iron parameters, but for applications where the
hard/soft iron changes rapidly may provide a more accurate
attitude estimate.
Range: 1 to 5
1 = Solution converges slowly over approximately 60-90
seconds.
5 = Solution converges rapidly over approximately 15-20
seconds.
Table 2 – HSI_Mode Field
Mode
Value Description
HSI_OFF
0
Real-time hard/soft iron calibration algorithm is turned off.
HSI_RUN
1
Runs the real-time hard/soft iron calibration. The algorithm will continue using its existing
solution. The algorithm can be started and stopped at any time by switching between the
HSI_OFF and HSI_RUN state.
HSI_RESET 2
Resets the real-time hard/soft iron solution.
Table 3 – HSI_Output Field
Mode
Value Description
NO_ONBOARD
1
Onboard HSI is not applied to the magnetic measurements.
USE_ONBOARD 3
Onboard HSI is applied to the magnetic measurements.
