Lidar installation 'angle'?

#1

installing a V3HP in plane for 1st time, wondering about concerns for the plane pitch during landing approach-to-touchdown. should i mount the lidar pointing straight down or a littl fwd to account for pitch during descent, or?

#2

I think the control algorithms expect straight 90 degrees down and will calculate the effect through pitching.

#3

that would be most excellent!
.
ps…im hoping your definition of “calculate the effect through pitching” interprets to something like “Pythagorean calculations done that consider AC pose from imu data”.

#4

Presumably yes. I’d have to read through the code to know how this is all implemented.

#5

i found this parameter…not sure if it is applicable…
.
EKF2_RNG_PITCH (FLOAT) Range sensor pitch offset -0.75 > 0.75 0.0 rad