Mounting the IMU on an “uneven plane” requires further adjustments to the ekf2 stack and to how the AHRS conducts calculations so that the tilt-correction measurements also account for this permanent bias or there is no need?
What’s the mathematical approach to account for the permanent tilt caused by the mounting on the uneven plane?
Update: The AHRS checks that the UAV is static by verifying that the norm of IMU acceleration falls between 0.9*g and 1.1*g , since the IMU is titled this will never happen and the AHRS won’t proceed to correct tilt
Well, the IMU can be in any orientation, the norm of the measured gravity would still be around 1g; we’re not strictly looking at the value along the Z axis.
If the IMU is tilted compared to the body frame of the drone, you can specify the offsets using SENS_BOARD_[YXZ]_OFF . You can also use SENS_BOARD_ROT if the orientation is in that list.