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AP_HAL_FLYMAPLE: Added documentation about alternative orientations to FlymaplePortingNotes.txt

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Mike McCauley 2014-01-22 16:32:18 +10:00 committed by Andrew Tridgell
parent 95bea052d2
commit 81791bdc43
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libraries/AP_HAL_FLYMAPLE/FlymaplePortingNotes.txt
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@ -242,6 +242,17 @@ Pitching up Y +ve
(ie right hand curl rule relative to the given axis)
Alternative Orientations
Although the default board orientation is as described above, you can alter it
by changing the AHRS_ORIENTATION parameter.
For example, if you set AHRS_ORIENTATION to 1 (Yaw45), then the board will act
as if 'Forward' is towards the green row of pin headers (ie the row of digital
input pins marked 0 to 13, and 'Right' is towards the triple row of pins
marked PWM. This orientation is good for vehicles where the board must be
orthogonal to the direction of movement.
PPM-SUM receiver and transmitter channel assignments
Pin 6 of the Flymaple is used for the PPM-SUM receiver input