Swapping primary IMUs

ArduCopter
1

Hi everyone,

I have 3 IMUs in my autopilot (Cube Orange) and now I want to use the third one as primary. Does Arducopter parameters offer swapping IMUs role?

Thanks.

2

Yes, you can select the primary IMU if you use ArduCopter version 4.2.0-dev from today

3

Actually it in the latest Rc1 release:

Copter 4.1.1-rc1 16-Oct-2021
*Changes from 4.1.0 *
1) EK3_PRIMARY allows selection of which EKF core/IMU to use on startup

4

Thanks for correcting me Dave