I mounting a laser scanner to a Firefly, and I am trying to define the spatial relationship between the vehicle and scanner. Does anyone know where the "center" of the vehicle is? This would be the point where the vehicle rotates around for roll, pitch, and yaw calculations.
The center of the UAV is the point where all motor booms virtually connect. So if you would extend the motor booms towards the center of the UAV, they would all meet at one point. That is the center of the UAV, where it rotates around. The height of the rotational center is also at the level of the motor booms.
This is valid for all AscTec research UAVs (Firefly, Pelican, Hummingbird).