Can EKF navigation solution be mapped to any arbitrary point?

ArduCopter Copter 3.5
1

Newb question: I worked with another autopilot software years ago that allowed the navigation solution (i.e. the solution generated by the EKF) to be mapped to any arbitrary point on the aircraft. Often this would be the CG or somewhere nearby. Will ArduPilot do this for me, or will I have to do it outside?

I notice a lever arm between IMU measuring point and GPS antenna phase centre is already supported by ArduCopter.

Thanks,

Imf

2

Yes, you can define the position of the autopilot relative to the CG and you can define the position of some of the sensors relative to the autopilot.

Take a loot at the *_OFS parameters.

3

@imfatant other than IMU and GPS lever arm offset, what else are you looking for?