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 * Home
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Copter

 * Introduction to Copter
 * Choosing an Autopilot
 * Ground Control Stations
 * First Time Setup
   * Install Ground Station Software
   * Autopilot System Assembly
     * Mounting the Autopilot
       * Standard orientation
       * Alternative orientations
     * Autopilot Wiring
     * NAVIO2 (Linux based) Wiring QuickStart
     * ESCs and Motors
     * Installing GPS+Compass Module
     * Vibration Damping
     * Magnetic Interference
   * Loading Firmware to boards with existing ArduPilot firmware
   * Loading Firmware to boards without existing ArduPilot firmware
   * Connect Mission Planner to AutoPilot
   * Configuration
 * First Flight and Tuning
 * Traditional Helicopters
 * Mission Planning
 * If A Problem Arises
 * Advanced Configuration
 * Peripheral Hardware
 * Additional Information
 * User Alerts

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Copter
 * 
 * First Time Setup
 * Autopilot System Assembly Instructions
 * Mounting the Autopilot
 * Edit on GitHub

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MOUNTING THE AUTOPILOT¶

This article explains how to mount the autopilot in standard and alternative
orientations.


STANDARD ORIENTATION¶

The autopilot (Pixhawk etc.) should be housed within a case (which includes foam
over the barometer) and should be mounted with the white arrow pointing directly
towards the front of the vehicle.

It should be placed close to the center of gravity of the vehicle (both
horizontally and vertically). Generally this means it should be placed within a
few centimeters of the middle of the vehicle and level with the motors. It is
not critical that it is placed exactly at the middle but closer is better (there
are no recorded cases of problems caused by the controller being far from the
centre of gravity). If the autopilot cannot be placed at the center of the
vehicle setting the IMU position offset parameters may improve performance
slightly.

The board should be attached to the frame using 4 cubes of vibration dampening
foam approximately 3/4 inch square (3M foam can be purchased from mRobotics).

Tip

Vibration dampening foam is a simple and effective mechanism for vibration
control. If Measuring Vibration shows that it is not sufficient, alternative
mechanisms are discussed in Vibration Damping.


ALTERNATIVE ORIENTATIONS¶

If the standard orientation of the Autopilot is not convenient, it can be
mounted in over 30 other possible orientations. The full list of possible
orientations can be seen and set through the Mission Planner Config/Tuning |
Advanced Params screen, look for the Board Orientation (AHRS_ORIENTATION)
parameter.

For Roll values, positive means roll right (i.e. “Roll90” means board is rolled
right 90 degrees so the white arrow still points forward but the board is
standing on its right edge).

For Pitch values, positive numbers indicate pitch back (i.e. “Pitch90” means the
board’s nose is pitched up 90 degrees so the arrow points directly up)

For Yaw values, positive numbers indicate the nose of the board is rotated
clockwise (i.e. “Yaw90” means board is rotated so white arrow points off to the
right).

Warning

If the board is mounted in a non-standard orientation (i.e. arrow is not
pointing forward) then please ensure the AHRS_ORIENTATION is properly set before
doing the accelerometer calibration.

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