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[Paparazzi-devel] Rotate reference frame - Lisa/M 2.0 Aspirin 2.2 - moun

From: Markus Bina
Subject: [Paparazzi-devel] Rotate reference frame - Lisa/M 2.0 Aspirin 2.2 - mounting the IMU correctly
Date: Mon, 09 Sep 2013 22:11:19 +0200
User-agent: Mozilla/5.0 (Windows NT 6.1; WOW64; rv:17.0) Gecko/20130801 Thunderbird/17.0.8

Hi all.

A few days ago I finished assembling all the hardware for my first "fixed wing"-configuration. Since I'm still a RC/Paparazzi beginner I figured to start by using the "Bixler"-airframe, which I can fly reasonably well without any autopilot, for my first setup.

Basically, I would like to mount the autopilot (Lisa/M) with the long side parallel to the fuselage, i.e. not like this Thus I'd not have to make any permanent changes to my airframe (the autopilot sits on a piece of acrylic (PMMA) in the CM fixed by velcro; thus removeable)
and there wouldn't be any wires hanging out of the fuselage.
This would - imho - also ease the wiring.

How do I rotate the IMU/Autopilot reference frame in the airframe configuration (XML) consistently for/in all subsystems (imu,ahrs,controller,etc.)? To mount the Lisa/M board with its long side parallel to the fuselage I figured, one needs to swap X and Y axis and invert the Y axis.

*) Airframe: Bixler  -
*) Board: Lisa/M v2.0 with Aspirin v2.2 from Transition Robotics
*) GPS: ublox
*) Telemetry: xbee
*) Radio: Spektrum (9645)

Sorry, in case my question is somewhat basic.



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