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Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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docs/zh/assembly/mount_and_orient_controller.md
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# 安装固定飞控
The flight controller should be placed on the frame as close as possible to the centre-of-gravity (CoG), top-side up, and oriented so that the _heading mark arrow_ points towards the front of the vehicle.
[Vibration isolation](#vibration-isolation) is often needed, and you should follow the manufacturer recommendations.
若以这种方式安装，则无需进行进一步的PX4配置。
## 安装方向
Almost all Flight Controllers have a _heading mark arrow_ (shown below).
飞控应该顶部朝上安装在机架上，并使箭头指向与载具的前向一致（在所有的飞行器机架：固定翼、多旋翼、垂直起降、地面载具等上都是如此）。
![FC Heading Mark](../../assets/qgc/setup/sensor/fc_heading_mark_1.png)
![FC Orientation](../../assets/qgc/setup/sensor/fc_orientation_1.png)
:::info
If the controller cannot be mounted in the recommended/default orientation due to physical constraints, you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
:::
## 安装位置
The flight controller should be placed on the frame as close as possible to the centre-of-gravity.
If you can't mount the controller in this position, then you should [configure](../advanced_config/parameters.md) the following parameters to set offset relative to the CoG: [EKF2_IMU_POS_X](../advanced_config/parameter_reference.md#EKF2_IMU_POS_X), [EKF2_IMU_POS_Y](../advanced_config/parameter_reference.md#EKF2_IMU_POS_Y), [EKF2_IMU_POS_Z](../advanced_config/parameter_reference.md#EKF2_IMU_POS_Z) (for the default EKF2 estimator).
Note that if you don't set these offsets then EKF2 position/velocity estimates will be at the IMU location rather that at the CoG.
This may result in undesirable oscillations, depending on how far away the IMU is from the CoG.
:::details
Explanation
To understand the impact of not setting these offsets, consider the case when the flight controller (IMU) is in front of the CoG, you're flying in position mode, and there is a forward pitching motion around the CoG.
The altitude estimate will go down, because the IMU has in fact moved down.
As a reaction, the altitude controller will give more thrust to compensate.
The amplitude depends on how far the IMU is located from the CoG.
It might be negligible, but it is still some unneeded control effort that is constantly applied.
If the offsets are specified, a pure pitch motion would not create any change in the altitude estimate so there will be less parasitic corrections.
:::
## 振动隔离
Flight Control boards with in-built accelerometers or gyros are sensitive to vibrations.
Some boards include in-built vibration-isolation, while others come with _mounting foam_ that you can use to isolate the controller from the vehicle.
![Pixhawk Mounting foam](../../assets/hardware/mounting/3dr_anti_vibration_mounting_foam.png)
_Vibration damping foam_
You should use the mounting strategy recommended in your flight controller documentation.
:::tip
[Log Analysis using Flight Review > Vibration](../log/flight_review.md#vibration) explains how to test whether vibration levels are acceptable, and [Vibration Isolation](../assembly/vibration_isolation.md) suggests a number of possible solutions if there is a problem.
:::