ARDUPILOT on BetaFlight Pavo Femto, AHRS_ORIENTATION etc.

ArduCopter Copter 4.5
1

Hi all,

set the AHRS_ORIENTATION = 8 as the FC is mounted upside down, but then artificial horizon ROLL axis direction is wrong again. Tried different other values + also manuall settings, but does not solve the problem, if you get roll + yaw correct then pitch again is wrong (shows as if drone is lying on it s back). YAW180+ROLL180 is the value i was looking for but this is not provided as a constant.

Also repeated the Accelerometer calibration process several times, changing roll direction also has no effect.

btw: only indoor flying is intended, so no GPS, no Compass … wanted to add Benewake LIDAR Sensor for Alt Hold or maybe also optical flow sensor. Thats why removing betaflight from FC + replacing it with Ardupilot. Also still can not lift of … arming only slowly rotates props some times then switches them off again …

2

YAW180+ROLL180 I would say is just pitch180. If You have photo how the FC is mounted and if there are any “FRONT” arrows on it, it would help.

3

Are you certain you are interpreting Mission Planner’s HUD correctly? It’s a common error for those not familiar with aviation instrumentation to mistake its presentation for “backwards,” particularly in the roll axis.

2 Likes
4

After checking the orientation in real flight … everything is correct … and yes think i was not interpreting correctly the roll …