I may have made the wrong statement regarding ahrs_orientation parameter. I will check with my own board later when I get back home. Please standby.
Ardupilot default orientation is different than betaflight default set by speedybee (don’t use speedybee manual). I think we should update the wiki doc
Now, from the HWDEF like what @dkemxr stated:
IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180_YAW_135
If my math is correct, the real imu orientation is suppose to face the usb side, mounted upside down.
(my math is bad)
but that should set the default orientation shown in this picture (default as in roll 0 yaw 0 in the parameter as the firmware should translate the imu datas). Again, I will cross-check with my board later as I only have saved parameters from beta-5 at the moment
try: ROLL 0 YAW 225 (AHRS_ORIENTATION = 5)
reboot, then do full accel calibration and reboot (power cycle)
if that doesn’t work try ROLL_180_YAW_0 (AHRS_ORIENTATION = 8)
reboot, then again do full accel calibration and reboot (power cycle)
check from the mission planner HUD if orientation is correct. Once we fix the orientation issue then we can continue with motor order.
edit: sorry I meant by your board is rotated 135 CCW, so it should be yaw 225