COMPASS_ parameters

73 parameters in the COMPASS_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

COMPASS_AUTODEC

Auto Declination

Enable or disable the automatic calculation of the declination based on gps location

User level

Advanced

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_AUTO_ROT

Automatically check orientation

When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.

Values

Value	Meaning
0	Disabled
1	CheckOnly
2	CheckAndFix
3	use same tolerance to auto rotate 45 deg rotations

COMPASS_CAL_FIT

Compass calibration fitness

This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.

Range	4 to 32
Increment	0.1
User level	Advanced

Values

Value	Meaning
4	Very Strict
8	Strict
16	Default
32	Relaxed

COMPASS_CUS_PIT

Custom orientation pitch offset

Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

Units	deg
Range	-180 to 180
Increment	1
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

COMPASS_CUS_ROLL

Custom orientation roll offset

Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

Units	deg
Range	-180 to 180
Increment	1
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

COMPASS_CUS_YAW

Custom orientation yaw offset

Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

Units	deg
Range	-180 to 180
Increment	1
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

COMPASS_DEC

Compass declination

An angle to compensate between the true north and magnetic north

Units	rad
Range	-3.142 to 3.142
Increment	0.01
User level	Standard

COMPASS_DEV_ID

Compass device id

Compass device id. Automatically detected, do not set manually

Read only	Yes
User level	Advanced

COMPASS_DEV_ID2

Compass2 device id

Second compass’s device id. Automatically detected, do not set manually

Read only	Yes
User level	Advanced

COMPASS_DEV_ID3

Compass3 device id

Third compass’s device id. Automatically detected, do not set manually

Read only	Yes
User level	Advanced

COMPASS_DEV_ID4

Compass4 device id

Extra 4th compass’s device id. Automatically detected, do not set manually

Read only	Yes
User level	Advanced

COMPASS_DEV_ID5

Compass5 device id

Extra 5th compass’s device id. Automatically detected, do not set manually

Read only	Yes
User level	Advanced

COMPASS_DEV_ID6

Compass6 device id

Extra 6th compass’s device id. Automatically detected, do not set manually

Read only	Yes
User level	Advanced

COMPASS_DEV_ID7

Compass7 device id

Extra 7th compass’s device id. Automatically detected, do not set manually

Read only	Yes
User level	Advanced

COMPASS_DEV_ID8

Compass8 device id

Extra 8th compass’s device id. Automatically detected, do not set manually

Read only	Yes
User level	Advanced

COMPASS_DIA2_X

Compass2 soft-iron diagonal X component

DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_DIA2_Y

Compass2 soft-iron diagonal Y component

DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_DIA2_Z

Compass2 soft-iron diagonal Z component

DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_DIA3_X

Compass3 soft-iron diagonal X component

DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_DIA3_Y

Compass3 soft-iron diagonal Y component

DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_DIA3_Z

Compass3 soft-iron diagonal Z component

DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_DIA_X

Compass soft-iron diagonal X component

DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_DIA_Y

Compass soft-iron diagonal Y component

DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_DIA_Z

Compass soft-iron diagonal Z component

DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_DISBLMSK

Compass disable driver type mask

This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup

User level

Advanced

Bitmask

Value	Meaning
0	HMC5883
1	LSM303D
2	AK8963
3	BMM150
4	LSM9DS1
5	LIS3MDL
6	AK0991x
7	IST8310
8	ICM20948
9	MMC3416
11	DroneCAN
12	QMC5883
14	MAG3110
15	IST8308
16	RM3100
17	MSP
18	ExternalAHRS
19	MMC5XX3
20	QMC5883P
21	BMM350
22	IIS2MDC or LIS2MDL

COMPASS_ENABLE

Enable Compass

Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.

Reboot required	Yes — the change takes effect after a reboot.
User level	Standard

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_EXTERN2

Compass2 is attached via an external cable

Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

User level

Advanced

Values

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_EXTERN3

Compass3 is attached via an external cable

Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

User level

Advanced

Values

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_EXTERNAL

Compass is attached via an external cable

Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

User level

Advanced

Values

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_FLTR_RNG

Range in which sample is accepted

This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.

Units	%
Range	0 to 100
Increment	1

COMPASS_LEARN

Learn compass offsets automatically

Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.

User level

Advanced

Values

Value	Meaning
0	Disabled
2	EKF-Learning
3	InFlight-Learning

COMPASS_MOT2_X

Motor interference compensation to compass2 for body frame X axis

Multiplied by the current throttle and added to compass2’s x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Units	mGauss/A
Range	-1000 to 1000
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_MOT2_Y

Motor interference compensation to compass2 for body frame Y axis

Multiplied by the current throttle and added to compass2’s y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Units	mGauss/A
Range	-1000 to 1000
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_MOT2_Z

Motor interference compensation to compass2 for body frame Z axis

Multiplied by the current throttle and added to compass2’s z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Units	mGauss/A
Range	-1000 to 1000
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_MOT3_X

Motor interference compensation to compass3 for body frame X axis

Multiplied by the current throttle and added to compass3’s x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Units	mGauss/A
Range	-1000 to 1000
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_MOT3_Y

Motor interference compensation to compass3 for body frame Y axis

Multiplied by the current throttle and added to compass3’s y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Units	mGauss/A
Range	-1000 to 1000
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_MOT3_Z

Motor interference compensation to compass3 for body frame Z axis

Multiplied by the current throttle and added to compass3’s z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Units	mGauss/A
Range	-1000 to 1000
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_MOTCT

Motor interference compensation type

Set motor interference compensation type to disabled, throttle or current. Do not change manually.

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

Values

Value	Meaning
0	Disabled
1	Use Throttle
2	Use Current

COMPASS_MOT_X

Motor interference compensation for body frame X axis

Multiplied by the current throttle and added to the compass’s x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Units	mGauss/A
Range	-1000 to 1000
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_MOT_Y

Motor interference compensation for body frame Y axis

Multiplied by the current throttle and added to the compass’s y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Units	mGauss/A
Range	-1000 to 1000
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_MOT_Z

Motor interference compensation for body frame Z axis

Multiplied by the current throttle and added to the compass’s z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Units	mGauss/A
Range	-1000 to 1000
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_ODI2_X

Compass2 soft-iron off-diagonal X component

ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_ODI2_Y

Compass2 soft-iron off-diagonal Y component

ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_ODI2_Z

Compass2 soft-iron off-diagonal Z component

ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_ODI3_X

Compass3 soft-iron off-diagonal X component

ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_ODI3_Y

Compass3 soft-iron off-diagonal Y component

ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_ODI3_Z

Compass3 soft-iron off-diagonal Z component

ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_ODI_X

Compass soft-iron off-diagonal X component

ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_ODI_Y

Compass soft-iron off-diagonal Y component

ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_ODI_Z

Compass soft-iron off-diagonal Z component

ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_OFFS_MAX

Compass maximum offset

This sets the maximum allowed compass offset in calibration and arming checks

Range	500 to 3000
Increment	1
User level	Advanced

COMPASS_OFS2_X

Compass2 offsets in milligauss on the X axis

Offset to be added to compass2’s x-axis values to compensate for metal in the frame

Units	mGauss
Range	-400 to 400
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_OFS2_Y

Compass2 offsets in milligauss on the Y axis

Offset to be added to compass2’s y-axis values to compensate for metal in the frame

Units	mGauss
Range	-400 to 400
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_OFS2_Z

Compass2 offsets in milligauss on the Z axis

Offset to be added to compass2’s z-axis values to compensate for metal in the frame

Units	mGauss
Range	-400 to 400
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_OFS3_X

Compass3 offsets in milligauss on the X axis

Offset to be added to compass3’s x-axis values to compensate for metal in the frame

Units	mGauss
Range	-400 to 400
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_OFS3_Y

Compass3 offsets in milligauss on the Y axis

Offset to be added to compass3’s y-axis values to compensate for metal in the frame

Units	mGauss
Range	-400 to 400
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_OFS3_Z

Compass3 offsets in milligauss on the Z axis

Offset to be added to compass3’s z-axis values to compensate for metal in the frame

Units	mGauss
Range	-400 to 400
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_OFS_X

Compass offsets in milligauss on the X axis

Offset to be added to the compass x-axis values to compensate for metal in the frame

Units	mGauss
Range	-400 to 400
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_OFS_Y

Compass offsets in milligauss on the Y axis

Offset to be added to the compass y-axis values to compensate for metal in the frame

Units	mGauss
Range	-400 to 400
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_OFS_Z

Compass offsets in milligauss on the Z axis

Offset to be added to the compass z-axis values to compensate for metal in the frame

Units	mGauss
Range	-400 to 400
Increment	1
Calibration	Written by a calibration routine — do not hand-edit.
User level	Advanced

COMPASS_OPTIONS

Compass options

This sets options to change the behaviour of the compass

User level

Advanced

Bitmask

Value	Meaning
0	CalRequireGPS
1	Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required)

COMPASS_ORIENT

Compass orientation

The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

User level

Advanced

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Yaw45Roll180
10	Yaw90Roll180
11	Yaw135Roll180
12	Pitch180
13	Yaw225Roll180
14	Yaw270Roll180
15	Yaw315Roll180
16	Roll90
17	Yaw45Roll90
18	Yaw90Roll90
19	Yaw135Roll90
20	Roll270
21	Yaw45Roll270
22	Yaw90Roll270
23	Yaw135Roll270
24	Pitch90
25	Pitch270
26	Yaw90Pitch180
27	Yaw270Pitch180
28	Pitch90Roll90
29	Pitch90Roll180
30	Pitch90Roll270
31	Pitch180Roll90
32	Pitch180Roll270
33	Pitch270Roll90
34	Pitch270Roll180
35	Pitch270Roll270
36	Yaw90Pitch180Roll90
37	Yaw270Roll90
38	Yaw293Pitch68Roll180
39	Pitch315
40	Pitch315Roll90
42	Roll45
43	Roll315
100	Custom 4.1 and older
101	Custom 1
102	Custom 2

COMPASS_ORIENT2

Compass2 orientation

The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

User level

Advanced

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Yaw45Roll180
10	Yaw90Roll180
11	Yaw135Roll180
12	Pitch180
13	Yaw225Roll180
14	Yaw270Roll180
15	Yaw315Roll180
16	Roll90
17	Yaw45Roll90
18	Yaw90Roll90
19	Yaw135Roll90
20	Roll270
21	Yaw45Roll270
22	Yaw90Roll270
23	Yaw135Roll270
24	Pitch90
25	Pitch270
26	Yaw90Pitch180
27	Yaw270Pitch180
28	Pitch90Roll90
29	Pitch90Roll180
30	Pitch90Roll270
31	Pitch180Roll90
32	Pitch180Roll270
33	Pitch270Roll90
34	Pitch270Roll180
35	Pitch270Roll270
36	Yaw90Pitch180Roll90
37	Yaw270Roll90
38	Yaw293Pitch68Roll180
39	Pitch315
40	Pitch315Roll90
42	Roll45
43	Roll315
100	Custom 4.1 and older
101	Custom 1
102	Custom 2

COMPASS_ORIENT3

Compass3 orientation

The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

User level

Advanced

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Yaw45Roll180
10	Yaw90Roll180
11	Yaw135Roll180
12	Pitch180
13	Yaw225Roll180
14	Yaw270Roll180
15	Yaw315Roll180
16	Roll90
17	Yaw45Roll90
18	Yaw90Roll90
19	Yaw135Roll90
20	Roll270
21	Yaw45Roll270
22	Yaw90Roll270
23	Yaw135Roll270
24	Pitch90
25	Pitch270
26	Yaw90Pitch180
27	Yaw270Pitch180
28	Pitch90Roll90
29	Pitch90Roll180
30	Pitch90Roll270
31	Pitch180Roll90
32	Pitch180Roll270
33	Pitch270Roll90
34	Pitch270Roll180
35	Pitch270Roll270
36	Yaw90Pitch180Roll90
37	Yaw270Roll90
38	Yaw293Pitch68Roll180
39	Pitch315
40	Pitch315Roll90
42	Roll45
43	Roll315
100	Custom 4.1 and older
101	Custom 1
102	Custom 2

COMPASS_PRIO1_ID

Compass device id with 1st order priority

Compass device id with 1st order priority, set automatically if 0. Reboot required after change.

Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

COMPASS_PRIO2_ID

Compass device id with 2nd order priority

Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.

Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

COMPASS_PRIO3_ID

Compass device id with 3rd order priority

Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.

Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

COMPASS_SCALE

Compass1 scale factor

Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

Range	0 to 1.3
User level	Standard

COMPASS_SCALE2

Compass2 scale factor

Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

Range	0 to 1.3
User level	Standard

COMPASS_SCALE3

Compass3 scale factor

Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

Range	0 to 1.3
User level	Standard

COMPASS_USE

Use compass for yaw

Enable or disable the use of the compass (instead of the GPS) for determining heading

User level

Advanced

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_USE2

Compass2 used for yaw

Enable or disable the secondary compass for determining heading.

User level

Advanced

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_USE3

Compass3 used for yaw

Enable or disable the tertiary compass for determining heading.

User level

Advanced

Values

Value	Meaning
0	Disabled
1	Enabled