Re: [Paparazzi-devel] Pointing quadcopter?

[Sergey Krukowski]

Afaik, there is a variable nav_heading in rotorcraft_guidance.xml. But  
seems that you have to manually calculate the heading. I'm not sure if the  
circle block under default flight plan is able to point the airframe. But  
it should not be to hard to add this feature.

Best Regards,
Sergey

> On 19 November 2013 16:57, Felix Ruess <address@hidden> wrote:
>
> > Hi,
> >
> > of course it is a bit easier if your IMU already points in the direction
> > you consider the front of your multirotor.
> > Then you can just set the BODY_TO_IMU  
> > orientation<http://paparazzi.enac.fr/wiki/Subsystem/imu#Defining_the_orientation_of_the_IMU>  
> > to
> > zero (or only a few degrees to account for mounting misalignment).
> >
> > But this is not a prerequisite, you can set any BODY_TO_IMU orientation
> > for AHRS int_cmpl_quat and it will deal with it correctly.
> > E.g. on my quadrotor I have the IMU mounted 45deg rotated as it was  
> > easier
> > to mount.
> >
> > Regardless of how your IMU is oriented, you have to specify how your
> > motors are arranged (how many, turning direction, placement) in the
> > MOTOR_MIXING section.
> > The wiki lists common examples like a quadrotor + and x configuration,  
> > for
> > more advanced motor placement
> > http://paparazzi.enac.fr/wiki/RotorcraftMixing describes how to compute
> > the needed motor mixing.
>
> That's not what I really meant, I think. I meant, can I create a flight
> plan that says, for example, "fly from P1 to P2 while pointing at P3"?
>
>
> > Hope that helps,
> > Felix
> >
> >
> > On Tue, Nov 19, 2013 at 4:52 PM, Marius Pfeffer  
> > <address@hidden>wrote:
> >
> > > Hello
> > >
> > > First you schould mount the imu facing the right position.
> > >
> > > And second set the right xml parameters for motor mixing (aka  
> > > supervision)
> > > http://paparazzi.enac.fr/wiki/Rotorcraft_Configuration#Motor_Mixing
> > >
> > > Regards
> > > Marius
> > > Am 19.11.2013 10:27 schrieb "Ben Laurie" <address@hidden>:
> > >
> > > >  Is there a way to choose which way a quad points?
> > > >
> > > >
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