LGDXRobot2 supports ICM-20948, the Magtonometer required manulally calibrating. The Magtonometer Calibration supports both Hard Iron and Soft Iron calibration methods.

Switch to the Magtonometer Calibration tab to view the calibration parameters. If they are not visible, press Refresh.

Current Configuration

The current configuration shows the calibration parameters for the magnetometer. These parameters are used to calculate the magnetometer output.

Press Refresh to update the current configuration.

Press Reset Calibration Data to reset the parameters to their uncalibrated state.

Custom Configuration

The custom configuration allows the calibration parameters to be entered manually. Then press Send to save the parameters.

To discard the soft iron calibration, enter an identity matrix with 1 on the diagonal and 0 on the off-diagonal elements.

Magtonometer Calibration

Magnetometer calibration obtains parameters for Hard Iron and Soft Iron.

Calibration

1. The controller board sends calibrated data, so ensure the Current Configuration shows the default values. If not, press Reset Calibration Data to reset the parameters to their uncalibrated state.
2. Press Start Calibration to begin the calibration.
3. Rotate the controller board to collect data.
4. Observe that the calibration data is being updated.
5. Press Stop Calibration to end the calibration.
6. Press Send to save the parameters, or press Send Hard Iron to save the parameters specifically for Hard Iron.

The Soft Iron calibration is under development.

Test Calibration

1. Ensure that Current Configuration shows the correct values. If not, press Refresh to update the configuration.
2. Press Start Testing to begin the test.
3. Rotate the controller board to collect data.
4. Observe the calibration chart.
5. Press Stop Testing to end the test.

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