Control surfaces work, artificial horizon pitch is backwards.

When I go to Flight Data the artificial horizon roll corresponds to the aircraft roll but the pitch is reverse of the aircraft pitch.

I suspect this is because the ArduPilot hardware is mounted upside down. The pins still face back and the GPS plug is forward, but the oilpan is on the bottom. When I switch to stabalize mode and test it, the control surfaces deflect as they should to stabilize the plane.

Is it possible to mount the oilpan and ArduPilot upside down like this? Is there an option to reverse the pitch for navigation? I can reverse the servos but that does not seem to be the issue here.

Thanks

Justin

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DeveloperPermalink Reply by Michael Oborne on December 6, 2011 at 6:02am

you answered the question yourself.... if the apm is upside down, then what else would it do?

Permalink Reply by Justin Wolford on December 6, 2011 at 12:03pm

I would expect that behavior as default. I was hoping there would be a software setting to reverse the pitch and yaw.

Permalink Reply by Steve on December 6, 2011 at 10:04am

Do you have some physical constraint where you just can't flip the board over ??? The APM pitch and roll direction are set and I believe you can't change it unless you directly edit the code.

Permalink Reply by Justin Wolford on December 6, 2011 at 12:02pm

Yes, there is a physical constraint. I am trying to mount it in the bottom of a Swift II flying wing. So if it is upside-right then the USB plug, dip switches and buttons on the oil pan are all in the wing. If it were upside-down they would all be accessible. So it is not the end of the world, but it is an annoyance that I have to remove it every time I want to plug it in.


DeveloperPermalink Reply by Michael Oborne on December 6, 2011 at 3:04pm

to archinve what you are describing you would need to change the sensor directions for some gyros and accelerometer. otherwise the imu solution will never be correct.

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