How to Install and Configure Compass-INAV Firmware

I. Principles

1. Compass Function
A compass (magnetic compass) is a sensor that measures heading by detecting the Earth's magnetic field and provides heading information to the flight controller. In a combined navigation system, heading is one of the core data points for aircraft attitude, affecting functions such as auto cruise, return-to-home (RTH), and loiter.
2. Why is Calibration Needed?
The compass is susceptible to interference from surrounding magnetic fields, such as motors, ESCs, metal components, receivers, servo wires, etc.. Without proper calibration, this can lead to the following issues:

• Abnormal aircraft heading data, affecting navigation accuracy;
• Aircraft drift, making it difficult to maintain direction;
• Failure of autonomous flight modes, such as RTH mode potentially calculating the wrong return direction;
• In severe cases, it may cause a crash.

II. Equipment Preparation

1) Flight Controller: This tutorial is applicable to any of the following flight controllers: SpeedyBee F405 WING APP / SpeedyBee F405 WING MINI / CoreWing F405 WING V2.
2) BZ-251 Compass
3) Connection Cable: 6PIN cable
4) Installation Tools: 3M adhesive
5) Computer/Phone: Used for configuring the ground control station
6) INAV Ground Control Station

III. Specific Operations

1. Compass Installation
Step 1: Select Installation Location
※Install with the antenna side facing upward during use

1) Selection of Installation Location: The compass should be installed near the flight controller board, but avoid placing it together with devices that generate strong magnetic fields, such as motors, ESCs, and batteries.
2) Ideal Installation Location: An area without strong current or metal interference around the flight controller. You can choose an empty space next to the flight controller board for installation.
3) Ensure Secure Installation: Use double-sided tape to secure the compass, ensuring it is firmly installed to prevent vibration effects during flight.

Step 2: Connect the Compass
Insert the BZ-251 into the GPS port of the flight controller.

2. Compass Orientation Setting
Enter the INAV Ground Control Station and open the configuration page:

1. Select the appropriate compass model
2. Click Save and Reboot
3. Select the appropriate compass orientation
4. Click Save and Reboot
   
   
   3. Compass Calibration
5. Enter the Calibration interface.
6. Place the aircraft on a flat surface.
7. Click Start Compass Calibration.
8. Within 30 seconds, rotate the aircraft 360° along each axis.

Important

Stay away from metal objects during calibration, such as cars, electric vehicles, high-voltage towers;
Calibrate outdoors with good GPS signal (at least 8 satellites);
Use wireless tuning during calibration to avoid USB cable interference;
Re-calibration is required if GPS/compass modules are replaced or the flight controller installation position is adjusted.

Important

After calibration is complete, click Save and Reboot.

IV. Q&A

Q: The compass is not being recognized, how to troubleshoot?
A: Check if the compass connection cable is securely connected and ensure the compass type is correctly set.

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