core: frontend: vehicle-setup: allow choosing center of control #3707
Description
Current behaviour
Pose offset parameters are hidden away in the autopilot parameters menu, and the origin / frame of reference they're relative to is often confusing when people want to actually use them.
There are similar points of confusion when users are trying to make custom frame configurations, and they don't have a good sense of how each motor acts upon their vehicle.
Expected or desired behaviour
The autopilot is pretty smart, but if users can't configure it properly then they are forced to endure suboptimal performance. It would be extremely helpful if users could specify the 3D poses of their components (with presets provided for our vehicles), along with their estimated centers of mass and buoyancy, and their desired center of control (e.g. at the CoM to maximise individual thruster efficiency, at the IMU to minimise required sensor corrections, or at the location of their camera (center of vision) or gripper (center of action) to improve control intuitiveness (whereby attitude control inputs do not change the position of control)), and have the corresponding autopilot parameters set automatically.
Building on this comment, that includes positions and orientations of the IMU sensors (accelerometer, compass, gyroscope), external barometer and/or altimeter, position sensor (GPS/DVL), camera, gripper end-effector, thrusters (with relative strengths), CoM, CoB, and possibly factors like a tether (for drag compensation).
This kind of configuration is painful both to understand and perform manually, but could be helped substantially with a visual interface from an intermediary configuration software like BlueOS.
Prerequisites
- I have checked to make sure that a similar request has not already been filed or fixed.