Sensor: Investigate use of magnetometer readings for sensor fusion

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#300 9 comments 0 reactions 1 assignee View on GitHub

@bjornhbengtsson is already working on this.

Since Jul 19, 2026.

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Description

enhancement

Version: 2.7.0

Describe the feature you'd like
Magnetometer readings are useful because they give the direction of earth's magnetic field relative to the FC. Since gravity can't be used for compensation during flight, the magnetometer can give us a base to use so we aren't just integrating gyro and accumulating drift.

According to @ETSells, we don't get a simple vector from the mag xyz. The assignee should investigate how to transform our readings into usable data that can be fed to sensor fusion filters.

The magnetometer on the Rev 2 board is the Bosch BMM150.
https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmm150-ds001.pdf

Describe alternatives you've considered
N/A

Additional context
Pending state estimation changes are on the integration/state-estims-telemetry branch.

Points of Contact
We don't really have any SMEs on the magnetometer, so whoever does this will become the first.
Driver maintainer - @ETSells
State estimations SME - @NArmistead

Dominant language
C
Stars
8
Forks
6
Avg merge
6d 15h
Merged PRs (30d)
1

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