Just a quick confirmation, all offsets must refer to the cg of the boat for XY and waterline for Z.
So to have everything set properly i should set antenna gps offsets and ins offsets in relation to cg?
Thank you, will read with much attention and set accordingly.
I think this statement will get you pointed in the right direction relative to your question:
In practice the distance to the sensor can be measured from the center of the autopilot unless the autopilot itself is placed a significant distance from the vehicle’s center of gravity in which case the IMU position offsets can be specified and then the other sensor’s position offsets can be specified from the vehicle’s center of gravity.
Since my autopilot is a bit far from CG, i’ll reference everything to the CG and should be all good.
Then you want to set the IMU offsets 1st/also.
Yes, imu and gps referenced to CG.
Done, thank you @dkemxr !!!
On a boat or ship is another point also important. The pivot point. This point is the resulting point of all forces driving the boat. This is not always identical with CG. But it is complex to find this point, therefore the CG is a good first approach