I have a big X8 copter, which is flying reasonably well. I have to however change the frame orientation, because the way the cameras are mounted, and it seems that there is no way of temporarily changing the AHRS_ORIENTATION from the level of a mission definition - is this true? I mean changing the direction in which the copter is facing during a mission, without the yaw angle excursions after reaching a waypoint. I’ve tried to introduce a CONDITION_YAW as a first mission command, but it worked only until getting to the first waypoint.
So the question is: which parameters have to be modified and what is the general procedure? Of course AHRS_ORIENTATION, but is the accelerometer calibration necessary? If so, at which stage? How about the external compasses?
Changing AHRS_ORIENTATION wont change how a mission performs.
You’ll need to look at mission commands like ROI (region of interest) and Condition Yaw
and there’s parameter WP_YAW_BEHAVIOR
I did not know about ROI, thanks for mentioning it.
I’ve tried several combinations of Condition Yaw and WP_YAW_BEHAVIOR, but it seems that you cannot achieve temporary changing of the copter orientation, independent of waypoints. When I’ve added a Condition Yaw after every waypoint, there was still a lot of yaw adjustment. I would be interested in having a possibility of adjusting the option 3 of WP_YAW_BEHAVIOR (follow the GPS course) by a fixed value.