• Definición: En algunas ocasiones, el horizonte artificial y/o la orientación del dron en el mapa se muestra de forma errónea. Cuando eso ocurre, lo más habitual es que no estén bien configurados los parámetros de orientación del Pixhawk (en el primer caso) o del GPS/Compass en el segundo.
  • Peligrosidad: No es posible el vuelo en estas condiciones ya que la plataforma no detecta correctamente su orientación.
  • Solución: 


A continuación se describen los pasos a realizar:

  1. Verificar/Actualizar los parámetros internos del sistema de control. Para ello haremos:


Abrir HEMAV PLANNER 2 --> Seleccionar la plataforma con el problema --> Configuración --> Configurar parámetros --> Verificar/Actualizar los parámetros siguientes:


Parámetros:

- AHRS_ORIENTATION,4 - PIXHAWK

Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.
0:None 1:Yaw45 2:Yaw90 3:Yaw135 4:Yaw180 5:Yaw225 6:Yaw270 7:Yaw315 8:Roll180 9:Roll180Yaw45 10:Roll180Yaw90 11:Roll180Yaw135 12:Pitch180 13:Roll180Yaw225 14:Roll180Yaw270 15:Roll180Yaw315 16:Roll90 17:Roll90Yaw45 18:Roll90Yaw90 19:Roll90Yaw135 20:Roll270 21:Roll270Yaw45 22:Roll270Yaw90 23:Roll270Yaw135 24:Pitch90 25:Pitch270 26:Pitch180Yaw90 27:Pitch180Yaw270 28:Roll90Pitch90 29:Roll180Pitch90 30:Roll270Pitch90 31:Roll90Pitch180 32:Roll270Pitch180 33:Roll90Pitch270 34:Roll180Pitch270 35:Roll270Pitch270 36:Roll90Pitch180Yaw90 37:Roll90Yaw270 38:Yaw293Pitch68Roll180 39:Pitch315 40:Roll90Pitch315 100:Custom

 

- COMPASS_ORIENT,4 - GPS


The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
0:None 1:Yaw45 2:Yaw90 3:Yaw135 4:Yaw180 5:Yaw225 6:Yaw270 7:Yaw315 8:Roll180 9:Roll180Yaw45 10:Roll180Yaw90 11:Roll180Yaw135 12:Pitch180 13:Roll180Yaw225 14:Roll180Yaw270 15:Roll180Yaw315 16:Roll90 17:Roll90Yaw45 18:Roll90Yaw90 19:Roll90Yaw135 20:Roll270 21:Roll270Yaw45 22:Roll270Yaw90 23:Roll270Yaw135 24:Pitch90 25:Pitch270 26:Pitch180Yaw90 27:Pitch180Yaw270 28:Roll90Pitch90 29:Roll180Pitch90 30:Roll270Pitch90 31:Roll90Pitch180 32:Roll270Pitch180 33:Roll90Pitch270 34:Roll180Pitch270 35:Roll270Pitch270 36:Roll90Pitch180Yaw90 37:Roll90Yaw270 38:Yaw293Pitch68Roll180 39:Pitch315 40:Roll90Pitch315