Sensor Position Offset Compensation IMU & GPS

ArduRover
,
1

I have a very large rover that will need the IMU_POS1_X moved drastically. I will also have two (2) GPS units. Do I offset the GPS(s) to the virtual position or the actual position? Is the IMU position change factored into the calculation for the GPS?

RoverDiag
RoverDiag.jpg813×624 250 KB

2

The rules on ArduPilot are :

  • IMU offset are relative to gravity center
  • GPS offset are relative to IMU
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