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Re: [Paparazzi-devel] Imu positioning on Paparazzi

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Imu positioning on Paparazzi
Date: Tue, 19 Aug 2014 13:45:01 +0200

Hi Enes,

currently none of the estimation algorithms in Paparazzi take a translation between body frame (COG) to IMU into account and assume that these two are close enough that it does not make a difference in practice.

Cheers, Felix

On Fri, Aug 15, 2014 at 9:46 PM, enes dilcan <address@hidden> wrote:

I am new to paparazzi uav and try to configure a quadrotor frame by using Quad Lisa m v2.0.

Previously, I had an experience with DJI Wookong-M. During Wookong configuration, Imu should be located as near as possible to center of the gravity. But, if anyone desires to locate IMU at different position, it is possible by entering distances between center of gravity to X-Y-Z axes.

I've checked the sample airframe file for Quad lisa m v2.0 I've only seen that there is a configuration for IMU orientaion (e.g. BODY_TO_IMU_PSI) .

Is there any configuration line for defining IMU distance to the center of gravity like in DJI Wookong-M? 



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