Ardupilot, heading kit and sensor offset

Q&A forumCategory: QuestionsArdupilot, heading kit and sensor offset
valeria asked 2 weeks ago

Hi,

What should the sensor offset be for GPS_POS1_Y in Ardupilot? For X it is the distance between antennas, is it the same for Y?

I can not align the antennas with the drone front. My configuration looks like the picture.

 

Antenna Y position offset

 


 

Ardusimple
Staff replied 1 week ago

Hi Valeria,
If we assume that your autopilot x axis has the same direction of your drone forward direction and it is installed in the middle of your drone, you should set the following parameters:
GPS_POS1_X: distance in meters from your GNSS1 antenna to your IMU in the x axis direction
GPS_POS2_X: distance in meters from your GNSS2 antenna to your IMU in the x axis direction
GPS_POS1_Y: distance in meters from your GNSS1 antenna to your IMU in the y axis direction
GPS_POS2_Y: distance in meters from your GNSS2 antenna to your IMU in the y axis direction

Notice that if your autopilot IMU is in the geometric center of your drone, placed between GNSS1 and GNSS2 antennas,you will have, for example:
GPS_POS1_X: 0.5 [m]
GPS_POS2_X: -0.5 [m]
GPS_POS1_Y: -0.5 [m]
GPS_POS1_Y: 0.5 [m]
The easiest way is to try yourself and check if the reported heading matches the real one.
To carry tests, remember to put your drone horizontally in a place with good view of the sky.

Best regards,
ArduSimple Team

valeria
replied 6 days ago

Thank you, that makes much more sense!
I got a bit confused because in this tutorial https://www.ardusimple.com/ardupilot-simplertk2bheading-configuration/ the gps position is set as the distance between the antennas. Was that a mistake on your side?