(2021-01-23, 10:37 AM)seandepagnier Wrote:(2021-01-22, 03:57 PM)ironman Wrote: At the risk of going off-topic, but related nevertheless: after having leveled, how can pypilot distinguish between pitching an rolling?
It cannot unless you also manually dial in the correct compass offset angle. This is also needed to get the correct compass heading rather than some relative heading. If sensors are parallel or at right angles to the direction of the boat the this offset is 0, 90, 180 or -90.
In the future I intend for pypilot to be able to distinguish because of known boat motions (eg heeling) but this is not easy because of potential false assumptions.
With the way I oriented the IMU, pypilot always guesses pitch and rolling right, and normally I don't need much offset for the compass either. Below I documented how the IMU sits in my boat - mind it is upside down in the picture. Once 'leveled', with compass-offset=0, this way pitch and roll are indicated correctly; with compass-offset 90, pitch and roll swap, and with 180, they both flip. Never knew!
BTW I was getting interested in the pitch value ever since toying with the idea of snapshotting a masthead camera image when the pitch goes through zero. I'll let you know when that idea ever sees the light...