Originally Posted by TAP993
Do you mean that the ideal place to put the Naza would be nearest the roll/pitch centre of the Ecilop between widened camera/pitch arms, yet fixed to the electronics frame (IE not on the the swing arms, but on a beam fixed across both sides ) ? As I'm new to this, I'm not clear about the correlation between the external gyros on the swing arms and the internal FC gizmos. Do the external gyros override the internal ones or analyse the difference between the two sets?
External gyros are not a problem, they just take care of high frequency oscillations of the gimbal. What I meant was the "absolute angle" of each axis, which is calculated by the front controller (FC basically says: "I am tilted by 30 degrees to the left, compensate this tilt by rotating the gimbal by 30 degrees to the right")
As the FC is using some kind of sensor fusion algorithms to calculate the absolute tilt/roll angle, I believe the position of FC is crucial. In ideal case the FC should be placed in the center of gravity so it can control all motors in the same way. Fortunately the length of motor arms on Ecilop is much bigger than the distance between COG and the FC, so the location of FC doesn't affect much the flight characteristics. But I believe it may have some impact on camera stabilization, especially if you need top-notch quality results.
But these are just my thoughts, I am too lazy to study those quaternion equations used by sensor fusion algorithms
So maybe I am completely wrong...