Hi @SeppW ,
I find 300RI can't do mag align via serial port in current version, but can do mag align via CAN, so I have 2 suggestions(ways) for you:
- Implement 'mag align via serial port' function for 300RI. You can find how 300ZI to implement 'mag align via serial port' by searching key word 'ProcessMagAlignCmds' in 300ZI VG_AHRS project source code, and follow the steps of the implementation in 300ZI VG_AHRS. This is a 'DIY' way that play with 300RI. Welcome your coming contribution!
- Run mag align via CAN, please refer to: https://openimu.readthedocs.io/en/latest/software/CAN/CAN_J1939_SetCommandMessages.html?highlight=align#can-j1939-set-request-messages