# RM3100 Setup Guide

## **PX4:**

With the newest PX4 firmware, the default setting will auto-detect DroneCAN devices and automatically recognize RM3100 as a compass.

If the flight controller does not recognize RM3100, you can set the following parameters to enable it：

* UAVCAN\_ENABLE = Sensors Automatic Config
* UAVCAN\_SUB\_MAG = 1

![](/files/YQhoTpiRS0H1SKytKsVq)

![](/files/hv3sTpWLVnrIIFbQCJ1L)

After setup, remember to calibrate it：

![](/files/pvUU0bu7YEs1cbNyUPR2)

After calibration, PX4 will automatically select the onboard compass or RM3100 for directional data.

## **Ardupilot：**

Go to *Mission Planner->CONFIG->Full Parameter List*

Set the following parameters:

**If using CAN1 port:**

* CAN\_D1\_PROTOCOL = 1
* CAN\_P1\_DRIVER = 1

**If using CAN2 port:**

* CAN\_D2\_PROTOCOL = 1
* CAN\_P2\_DRIVER = 1

At the DroneCAN/UAVCAN tab, click MAVlink-CAN1 or MAVlink-CAN2 to list out all CAN devices. 

{% hint style="warning" %}
Avoid updating the DroneCAN device's firmware unless necessary. In a small chance, an update may brick the device and require opening the case and flashing the microcontroller using ST-Link.
{% endhint %}

![](/files/RwAea5bX3KJCRrs43QYv)

Head to the Compass tab and set the UAVCAN compass to first priority by clicking the bottom.\
Don't forget to reboot your device after setting the priority.

![](/files/9sogG4FW0H556GZjph7F)

After reboot, calibrate your compass to finish configuration.


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