硬件连接
使用CAN线连接RM3100罗盘至OneRTK UM982的CAN接口或直接与飞控的任意CAN接口连接。
启用罗盘
打开MissionPlanner，进入配置->全部参数表
连接到CAN1接口：
CAN_P1_DRIVER = 1
连接到CAN2接口：
CAN_P2_DRIVER = 1
CAN_P1_DRIVER = 1
连接到CAN2接口：
CAN_P2_DRIVER = 1
MissionPlanner罗盘设置解析
A：磁力计信息栏，对于OneCompass RM3100，BUS类型为UAVCAN,Externa（外置）。
B:可通过点击上下箭头调整罗盘排序，排序第一个为优先级最高的。
C:选择哪些磁力计需要参与校准（不勾选则不使用也不参与校准）。
D:当调整了磁力计排序后，需要点击Reboot，重启控制器。
E:点击开始执行罗盘校准。
罗盘校准
点击【start】按钮，开始校准
将飞机以8字多方向进行环绕旋转，直至校准结束
如下图所示，系统提示校准完成
罗盘校准需要将飞控与罗盘安装到飞机上，校准完成后请勿移动它，大飞机可以不安装机臂或机翼进行校准，但罗盘需要远离机臂或机翼。
PX4使用文档
打开QGroundControl地面站 ->Vehicle setup->Parameters 界面输入”UAVCAN” 设置以下参数。
UAVCAN_ENABLE = Sensors Automatic Config
UAVCAN_SUB_MAG = Enabled
罗盘校准
进入“Sensors>compass”界面图像指示校准
罗盘校准需要将飞控与罗盘安装到飞机上，校准完成后请勿移动它，大飞机可以不安装机臂或机翼进行校准，但罗盘需要远离机臂或机翼。
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