External Compass Orientation in ArduPilot, PX4, INAV, and Betaflight

The following diagram lists the compass-orientation parameters for four mounting orientations of MicoAir GPS modules with onboard compasses across the supported flight-controller firmware platforms:

Compass Orientation in ArduPilot and PX4

ArduPilot and PX4 firmware version 1.14.0 or later automatically detect compass orientation after calibration. Securely install both the flight controller and compass before calibration; no manual orientation setting is required.

Compass Orientation in Betaflight

Compass Orientation in INAV