CM160 Multi-sensor Operations Manual
Doc#: 100-104
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Version:1.8.0
*** Setting up the Raw Values / Angles ***
When setting up the angles please note that the angles the camera uses and the angles the
Autopilot uses do not have to match. In fact it is likely they will not match.
It is important that the camera software angles are reported correctly. The camera software
angles are based on the UAV. In the above example the camera was mounted on the
belly of the plane. The gimbal reports a Tilt of 0 degrees when the lens is
directly in the middle of the hemisphere. If the camera is mounted on the belly of the
plane, this would mean it was pointing straight into the ground, and from the plane’s
reference that would be -90 degrees.
In order to figure out the angles, you must decide how the camera will be mounted first.
Then calculate the angles in the plane’s reference, (from the nose of the plane) and then
fill in the corresponding raw values to match the angles that would be reported from the
actual camera.
Example: Mounting on the belly.
On the belly of the plane, the camera’s tilt or pitch would go from 0 degrees (Facing out
the nose) and -180 degrees facing out of tail. At 0 degrees the camera would report that it
is at 90. Convert 90 to radians 90/180*PI*1024 = 1608. Then calculate for the -180
degree angle. At -180 degrees the camera would report that it is at -90 which is -1608.
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