<!--PPZUAV Booz2 IMU Serial Number 001 -->


<!--Insert this calibration into airframe.xml-->

  <section name="IMU" prefix="IMU_">

    <define name="GYRO_P_CHAN" value="1"/>
    <define name="GYRO_Q_CHAN" value="0"/>
    <define name="GYRO_R_CHAN" value="2"/>

    <define name="GYRO_P_NEUTRAL" value="32220"/>
    <define name="GYRO_Q_NEUTRAL" value="31620"/>
    <define name="GYRO_R_NEUTRAL" value="32000"/>

    <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
    <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
    <define name="GYRO_R_SENS" value="-1.01" integer="16"/>


    <define name="ACCEL_X_CHAN" value="5"/>
    <define name="ACCEL_Y_CHAN" value="3"/>
    <define name="ACCEL_Z_CHAN" value="4"/>

<define name="ACCEL_X_NEUTRAL" value="32610"/>
<define name="ACCEL_Y_NEUTRAL" value="32891"/>
<define name="ACCEL_Z_NEUTRAL" value="32373"/>

<define name="ACCEL_X_SENS" value="-2.5922049353" integer="16"/>
<define name="ACCEL_Y_SENS" value="-2.55839088796" integer="16"/>
<define name="ACCEL_Z_SENS" value="-2.56970688984" integer="16"/>

    <define name="MAG_X_CHAN" value="0"/>
    <define name="MAG_Y_CHAN" value="1"/>
    <define name="MAG_Z_CHAN" value="2"/>

<define name="MAG_X_NEUTRAL" value="-20"/>
<define name="MAG_Y_NEUTRAL" value="11"/>
<define name="MAG_Z_NEUTRAL" value="-15"/>

<define name="MAG_X_SENS" value="5.21841333202" integer="16"/>
<define name="MAG_Y_SENS" value="-5.28784022883" integer="16"/>
<define name="MAG_Z_SENS" value="-2.92595913244" integer="16"/>

    <define name="BODY_TO_IMU_PHI"   value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
    <define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
    <define name="BODY_TO_IMU_PSI"   value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>

  </section>