# 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

![](https://2367252986-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FLIgtGDAvVGkCKGOJb1bR%2Fuploads%2FxhkfcszAaA8PZ3p91p8d%2F0.png?alt=media)

![](https://2367252986-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FLIgtGDAvVGkCKGOJb1bR%2Fuploads%2FYpEy8LAYhqEu4Xy15K6H%2F1.png?alt=media)

After setup, remember to calibrate it：

![](https://2367252986-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FLIgtGDAvVGkCKGOJb1bR%2Fuploads%2Fm3w7IvVtlrSsGXwZ4zXA%2F2.png?alt=media)

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 %}

![](https://2367252986-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FLIgtGDAvVGkCKGOJb1bR%2Fuploads%2FfAz0dj7Pu2KGhCYBAxAR%2F3.png?alt=media)

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.

![](https://2367252986-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FLIgtGDAvVGkCKGOJb1bR%2Fuploads%2FoOtucqRBldhg5kex6PW8%2F4.png?alt=media)

After reboot, calibrate your compass to finish configuration.