I need to estimate the affine transform from the Pixhawk to an onboard camera. The Pixhawk maintains a pose estimate, but where is this origin of this coordinate frame physically on a Pixhawk ( this model )? I need to physically estimate this transform in CAD. Thank you!

I’m not sure your going to get the implied precision you expect from your question… It looks like the EKF can compensate for GPS and IMU position, make sure you correctly set the EKF parameters: EKF2_IMU_POS_X EKF2_IMU_POS_Y EKF2_IMU_POS_Z EKF2_GPS_POS_X EKF2_GPS_POS_Y EKF2_GPS_POS_Z All wi…

Inertial Reference Frame Origin of Pixhawk

Pixhawk

Alvinosaur April 7, 2021, 2:58pm 3

Thanks @pbreed, I think you are right about the center of mass. It seems like other forums also say the same.

Topic		Replies	Views
EKF2 Sensor Position Parameters PX4 Autopilot	1	1274	January 25, 2017
Where is the body frame attached? Uncategorized	1	905	October 24, 2018
IMU Origin at the Pixhawk Pixhawk	0	371	May 5, 2022
Coordinate frame of IMU PX4 Autopilot	1	590	December 1, 2023
Mounting position of pixhawk Pixhawk	3	412	March 20, 2023

Inertial Reference Frame Origin of Pixhawk

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