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Old Sep 03, 2012, 09:29 AM
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Joined Mar 2004
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hugy -

Sorry I misread your question and mixed it up with the sim3 phase. This is an extract from my "cal --mag" output.
The #define's appear right after the "lowMAE=...." line.

Code:
Mag Loops:  200000
Mag 0th order Variance:
+0.000000000   +0.000000001   +0.000000001      +0.000000000009
+0.000000001   +0.000000000   +0.000000001      +0.000000000009
+0.000000001   +0.000000001   +0.000000000      +0.000000000010

Mag 0th order Params:
+0.206717709   -0.006123692   -0.010416651      -0.038020855801
-0.021061349   +0.210793845   -0.001969416      -0.029490403132
-0.025410999   +0.001521368   +0.196824510      +0.057909913702


Mag 1st order Variance:
BIAS           SCALE
+0.000000000   +0.000000000
+0.000000000   +0.000000000
+0.000000000   +0.000000000

Mag 1st order Params:
BIAS           SCALE
+0.000049801   -0.000188627
+0.000034020   -0.000355466
-0.000092928   -0.000274251


Mag 2nd order Variance:
BIAS           SCALE
+0.000000000   +0.000000000
+0.000000000   +0.000000000
+0.000000000   +0.000000000

Mag 2nd order Params:
BIAS           SCALE
-0.000000806   +0.000002895
-0.000000815   +0.000002104
-0.000000247   +0.000002550


Mag 3rd order Variance:
BIAS           SCALE
+0.000000000   +0.000000000
+0.000000000   +0.000000000
+0.000000000   +0.000000000

Mag 3rd order Params:
BIAS           SCALE
+0.000000126   -0.000000762
+0.000000106   -0.000000500
-0.000000144   -0.000000453


Mag Inclination Variance:
+0.000000001

Mag Inclination Parameter:
-67.379997253


Static value Variance # 1:
+0.000000001   +0.000000000   +0.000000001

Static value Params # 1:
+0.372308442   +1.836106350   -0.081055452

Static value Variance # 2:
+0.000000001   +0.000000000   +0.000000001

Static value Params # 2:
-1.105071087   -1.893882109   +0.066298476

Static value Variance # 3:
+0.000000001   +0.000000001   +0.000000001

Static value Params # 3:
+0.669378040   -0.227161728   +1.673201968


MAE: 0.0236355
AVG: 1.99799
lowMAE = 0.023635, n[0] = 0.000035
#define IMU_MAG_BIAS_X -3.802085580e-002
#define IMU_MAG_BIAS_Y -2.949040313e-002
#define IMU_MAG_BIAS_Z +5.790991370e-002
#define IMU_MAG_BIAS1_X +4.980135949e-005
#define IMU_MAG_BIAS1_Y +3.401998637e-005
#define IMU_MAG_BIAS1_Z -9.292756423e-005
#define IMU_MAG_BIAS2_X -8.059173810e-007
#define IMU_MAG_BIAS2_Y -8.149661151e-007
#define IMU_MAG_BIAS2_Z -2.470003789e-007
#define IMU_MAG_BIAS3_X +1.256068969e-007
#define IMU_MAG_BIAS3_Y +1.062783444e-007
#define IMU_MAG_BIAS3_Z -1.444701405e-007
#define IMU_MAG_SCAL_X +2.067177088e-001
#define IMU_MAG_SCAL_Y +2.107938450e-001
#define IMU_MAG_SCAL_Z +1.968245104e-001
#define IMU_MAG_SCAL1_X -1.886266300e-004
#define IMU_MAG_SCAL1_Y -3.554663351e-004
#define IMU_MAG_SCAL1_Z -2.742510217e-004
#define IMU_MAG_SCAL2_X +2.895123640e-006
#define IMU_MAG_SCAL2_Y +2.104068242e-006
#define IMU_MAG_SCAL2_Z +2.549966586e-006
#define IMU_MAG_SCAL3_X -7.624673000e-007
#define IMU_MAG_SCAL3_Y -4.998620047e-007
#define IMU_MAG_SCAL3_Z -4.529543373e-007
#define IMU_MAG_ALGN_XY -6.123691816e-003
#define IMU_MAG_ALGN_XZ -1.041665129e-002
#define IMU_MAG_ALGN_YX -2.106134876e-002
#define IMU_MAG_ALGN_YZ -1.969416175e-003
#define IMU_MAG_ALGN_ZX -2.541099891e-002
#define IMU_MAG_ALGN_ZY +1.521367650e-003
#define IMU_MAG_INCL -6.737999725e+001

---

Mag Loops:  205000
Mag 0th order Variance:
+0.000000000   +0.000000001   +0.000000001      +0.000000000009
+0.000000001   +0.000000000   +0.000000001      +0.000000000009
+0.000000001   +0.000000001   +0.000000000      +0.000000000010

Mag 0th order Params:
+0.208792171   -0.009390944   -0.016841487      -0.038808108524
-0.032967372   +0.213680668   -0.003409565      -0.029545159237
-0.042978986   +0.003259080   +0.198543356      +0.057997107527


Mag 1st order Variance:
BIAS           SCALE
+0.000000000   +0.000000000
+0.000000000   +0.000000000
+0.000000000   +0.000000000

Mag 1st order Params:
BIAS           SCALE
+0.000090902   -0.000358498
+0.000059727   -0.000560411
-0.000142307   -0.000448828


Mag 2nd order Variance:
BIAS           SCALE
+0.000000000   +0.000000000
+0.000000000   +0.000000000
+0.000000000   +0.000000000

Mag 2nd order Params:
BIAS           SCALE
-0.000000549   +0.000002205
-0.000000839   +0.000001264
-0.000000492   +0.000001558


Mag 3rd order Variance:
BIAS           SCALE
+0.000000000   +0.000000000
+0.000000000   +0.000000000
+0.000000000   +0.000000000

Mag 3rd order Params:
BIAS           SCALE
+0.000000079   -0.000000544
+0.000000073   -0.000000231
-0.000000066   -0.000000234


Mag Inclination Variance:
+0.000000001

Mag Inclination Parameter:
-67.379997253


Static value Variance # 1:
+0.000000000   +0.000000000   +0.000000001

Static value Params # 1:
+0.365656557   +1.813590174   -0.080630301

Static value Variance # 2:
+0.000000000   +0.000000000   +0.000000001

Static value Params # 2:
-1.098494370   -1.871066614   +0.065746247

Static value Variance # 3:
+0.000000000   +0.000000000   +0.000000001

Static value Params # 3:
+0.659784541   -0.224589254   +1.661214238


MAE: 0.0164586
AVG: 1.99745
lowMAE = 0.016459, n[0] = 0.000034
#define IMU_MAG_BIAS_X -3.880810852e-002
#define IMU_MAG_BIAS_Y -2.954515924e-002
#define IMU_MAG_BIAS_Z +5.799710753e-002
#define IMU_MAG_BIAS1_X +9.090224648e-005
#define IMU_MAG_BIAS1_Y +5.972721401e-005
#define IMU_MAG_BIAS1_Z -1.423069361e-004
#define IMU_MAG_BIAS2_X -5.493001918e-007
#define IMU_MAG_BIAS2_Y -8.394681521e-007
#define IMU_MAG_BIAS2_Z -4.915622324e-007
#define IMU_MAG_BIAS3_X +7.870228647e-008
#define IMU_MAG_BIAS3_Y +7.336411359e-008
#define IMU_MAG_BIAS3_Z -6.630640660e-008
#define IMU_MAG_SCAL_X +2.087921710e-001
#define IMU_MAG_SCAL_Y +2.136806680e-001
#define IMU_MAG_SCAL_Z +1.985433562e-001
#define IMU_MAG_SCAL1_X -3.584976636e-004
#define IMU_MAG_SCAL1_Y -5.604106311e-004
#define IMU_MAG_SCAL1_Z -4.488283794e-004
#define IMU_MAG_SCAL2_X +2.205293993e-006
#define IMU_MAG_SCAL2_Y +1.263597455e-006
#define IMU_MAG_SCAL2_Z +1.558150073e-006
#define IMU_MAG_SCAL3_X -5.442815271e-007
#define IMU_MAG_SCAL3_Y -2.305748930e-007
#define IMU_MAG_SCAL3_Z -2.341064677e-007
#define IMU_MAG_ALGN_XY -9.390944012e-003
#define IMU_MAG_ALGN_XZ -1.684148683e-002
#define IMU_MAG_ALGN_YX -3.296737206e-002
#define IMU_MAG_ALGN_YZ -3.409564610e-003
#define IMU_MAG_ALGN_ZX -4.297898623e-002
#define IMU_MAG_ALGN_ZY +3.259080270e-003
#define IMU_MAG_INCL -6.737999725e+001

---
Are you using the latest (Windows) QGC?
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