Add an offset in the CLI setup for tail draggers to compensate for their angle

bravebiodun / ardupilot-mega

Automatically exported from code.google.com/p/ardupilot-mega

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Add an offset in the CLI setup for tail draggers to compensate for their angle #378

Open GoogleCodeExporter opened 8 years ago

GoogleCodeExporter commented 8 years ago

Feature that you'd like us to add or change you'd like us to make:
Recommend adding an offset feature in the CLI setup that allows tail draggers 
to compensate for their angle rather than level the fuselage during 
calibration. 
Also enable multiple servo outputs for one channel input e.g. two aleron servos.

Original issue reported on code.google.com by kiowamik...@gmail.com on 17 Jul 2011 at 3:45

GoogleCodeExporter commented 8 years ago

Two aleron servos are already available, please update

Original comment by amilcar....@gmail.com on 25 Sep 2011 at 9:22

Changed title: Add an offset in the CLI setup for tail draggers to compensate for their angle

GoogleCodeExporter commented 8 years ago

Original comment by amilcar....@gmail.com on 25 Sep 2011 at 9:23

Added labels: Type-Enhancement

GoogleCodeExporter commented 8 years ago

I'm pretty sure the IMU can calibrate in any orientation as long as its held 
still.
I'm not sure if APM uses the orientation on startup for anything. Any input on 
this?

Original comment by Mr.Challinger@gmail.com on 17 Dec 2011 at 8:30

GoogleCodeExporter commented 8 years ago

A parameter exists for this feature.  However using it for offset of 
calibration significantly different from flying attitude will cause imprecise 
AHRS solution due to the difference between the sensor axes and calibration 
attitude, and associated rotational "coupling".  Search for Bill Premerlani's 
work on calibrating out similar misalignments on the UAV Dev Board for a 
general idea of this issue.  Not a big deal for small angles, but the tail low 
angle of some taildraggers on the ground may make this an issue with some 
relevance.

Eventually someone may want to do something different (more sophisticated) with 
respect to allowing altername IMU mounting orientations that would resolve this 
issue.  However, potential use of the MPU6000 on-board attitude solution needs 
to be considered.

Original comment by dewei...@gmail.com on 26 Dec 2011 at 8:47

Changed state: Accepted

GoogleCodeExporter commented 8 years ago

We've now got a MANUAL_LEVEL option for tail draggers that I think will work 
better. See the update for ArduPlane 2.32

Original comment by tridg...@gmail.com on 29 Mar 2012 at 6:10