[Paparazzi-devel] Rotate reference frame - Lisa/M 2.0 Aspirin 2.2 - mounting the IMU correctly

[Markus Bina]

Hi all.

A few days ago I finished assembling all the hardware for my first 
"fixed wing"-configuration.
Since I'm still a RC/Paparazzi beginner I figured to start by using the 
"Bixler"-airframe, which I can fly reasonably well without any 
autopilot, for my first setup.

Basically, I would like to mount the autopilot (Lisa/M) with the long 
side parallel to the fuselage, i.e. not like this 
http://paparazzi.enac.fr/wiki/File:Bixler_Cockpit.jpg.
Thus I'd not have to make any permanent changes to my airframe (the 
autopilot sits on a piece of acrylic (PMMA) in the CM fixed by velcro; 
thus removeable)
and there wouldn't be any wires hanging out of the fuselage.
This would - imho - also ease the wiring.

How do I rotate the IMU/Autopilot reference frame in the airframe 
configuration (XML) consistently for/in all subsystems 
(imu,ahrs,controller,etc.)?
To mount the Lisa/M board with its long side parallel to the fuselage I 
figured, one needs to swap X and Y axis and invert the Y axis.

Hardware:
*) Airframe: Bixler  - http://paparazzi.enac.fr/wiki/Bixler
*) Board: Lisa/M v2.0 with Aspirin v2.2 from Transition Robotics
*) GPS: ublox
*) Telemetry: xbee
*) Radio: Spektrum (9645)

Sorry, in case my question is somewhat basic.

Thanks.

Cheers,
    Markus