Hi! My flight controller is oriented Yaw 270 then Roll 90. But there is no such orientation in list of available orientations during sensor calibration.
How can I set up for such configuration?
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What I did so far is added new orientation to rotation.h, rotation.cpp, sensor_params.c. And now as I’m selecting my new custom orientation number for SENS_BOARD_ROT parameter I’m seeing HUD shows irrelevant orientation. Also plane position during calibration is shown incorrect.
In order to nail down the problem I’m just copied the code from ROTATION_ROLL_270_YAW_270 to my newly created orientation. And still see some irrelevant orientation which is nether orthogonal to ground fixed frame.
I tested the same in sitl_gazebo. Modified orientation of IMU to be consistent with ROTATION_ROLL_270_YAW_270, ensured proper HUD readings. Then as I change SENS_BOARD_ROT to my custom number (which uses the same exactly code copy pasted from ROTATION_ROLL_270_YAW_270) I starting seeing HUD drifts to some irrelevant position.
Any hints? What have I missed?
I started an issue in Firmware bug tracker.
The code changes can be seen in commits to firmware (1, 2) ans sitl_gazebo.
One more issue found during investigation is standard_vtol irrelevant orientation even with standard SENS_BOARD_ROT = 26. While iris model works as expected for SENS_BOARD_ROT = 26 and still not works for the newly added orientation the same way as real hardware not works either.