MAVLINKHUD
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Full Parameter PDF

Overview

The ORIENT parameter group (specifically ORIENT_YAW or FLOW_ORIENT_YAW) defines the mechanical rotation of auxiliary sensors relative to the flight controller.

Key Concepts

1. Yaw Alignment

When mounting a sensor like an Optical Flow camera or a Lidar, the chip's internal X/Y axes must be aligned with the vehicle's Forward/Right axes.

  • ORIENT_YAW: The rotation (in degrees) of the sensor around its vertical axis.
    • 0: Sensor "Forward" points with the vehicle "Forward."
    • 90: Sensor is rotated 90 degrees to the right.

Developer Notes

  • Library: libraries/AP_OpticalFlow, libraries/AP_RangeFinder.
  • Criticality: If this is wrong, the vehicle will attempt to correct horizontal drift in the wrong direction, leading to a "fly-away" or crash in Loiter modes.

Beacon systems rotation from north in degrees

ORIENT_YAW: Beacon systems rotation from north in degrees

Description

Beacon systems rotation from north in degrees.

Values

  • Range: -180 to +180
  • Units: deg
  • Increment: 1
  • Default: 0

Description

This parameter aligns the coordinate system of your Indoor Positioning System (Beacons) with the autopilot's heading.

  • Usage: If your beacon system's "North" (Y-axis) is not aligned with True North, use this parameter to rotate the beacon frame so that the autopilot flies in the correct direction.
  • Example: If your beacon system's X-axis points East, but you want it to point North, you would adjust this value.

Source Code

ardupilot/libraries/AP_Beacon/AP_Beacon.cpp

Global and Subsystem Options (OPTIONS) Local Frame Origin (ORIGIN)