APM Compass Orientation Settings

Hi All,

I have a question about the compass orientation in Mission Planner and inherantly in the APM once mission planner has been configured.

I have a non standard compass and I want to mount it:

a) Rotated Compass Roll Left 90 degrees wrt frame (and original compass position)

and

b) Pitch Up 90 degrees wrt frame (and original compass position)

Questions are twofold ...

1) How are the offsets measured... with the copter facing forward

a) Is Roll Left side down 90 equal to 90 or 270 degrees?

b) Is Pitch front up 90 equal to 90 or 270 degrees?

Based on below

A yaw is a counterclockwise rotation of $\alpha$ about the -axis.

A pitch is a counterclockwise rotation of $\beta$ about the -axis.

A roll is a counterclockwise rotation of $\gamma$ about the -axis.

I am suspecting that my required compass orientation is:

Roll 90 Pitch 270

2) How can I set this in APM/Mission planner?

Its not clear how the settings in Mission Planner accomplish this ... in fact I think that it is not possible.

In the Advanced Parameters - COMPASS_ORIENT parameter I have the following options...

Note that these are different to the settings above. Have they all been tested?

Confused ... but still saine for now!!!

Andy

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