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Re: [Paparazzi-devel] Pointing quadcopter?

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Pointing quadcopter?
Date: Tue, 19 Nov 2013 17:57:02 +0100


of course it is a bit easier if your IMU already points in the direction you consider the front of your multirotor.
Then you can just set the BODY_TO_IMU orientation to zero (or only a few degrees to account for mounting misalignment).

But this is not a prerequisite, you can set any BODY_TO_IMU orientation for AHRS int_cmpl_quat and it will deal with it correctly.
E.g. on my quadrotor I have the IMU mounted 45deg rotated as it was easier to mount.

Regardless of how your IMU is oriented, you have to specify how your motors are arranged (how many, turning direction, placement) in the MOTOR_MIXING section.
The wiki lists common examples like a quadrotor + and x configuration, for more advanced motor placement describes how to compute the needed motor mixing.

Hope that helps,

On Tue, Nov 19, 2013 at 4:52 PM, Marius Pfeffer <address@hidden> wrote:


First you schould mount the imu facing the right position.

And second set the right xml parameters for motor mixing (aka supervision)


Am 19.11.2013 10:27 schrieb "Ben Laurie" <address@hidden>:
Is there a way to choose which way a quad points?

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