<!--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="33008"/>
    <define name="GYRO_Q_NEUTRAL" value="31899"/>
    <define name="GYRO_R_NEUTRAL" value="32989"/>

    <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_SENS" value="-2.19476868" integer="16"/>
    <define name="ACCEL_Y_SENS" value="-2.88368188" integer="16"/>
    <define name="ACCEL_Z_SENS" value="-2.57172803" integer="16"/>

    <define name="ACCEL_X_NEUTRAL" value="33160"/>
    <define name="ACCEL_Y_NEUTRAL" value="32523"/>
    <define name="ACCEL_Z_NEUTRAL" value="32418"/>

    <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_SENS" value="4.73914612" integer="16"/>
    <define name="MAG_Y_SENS" value="-5.34705586" integer="16"/>
    <define name="MAG_Z_SENS" value="-3.57580805" integer="16"/>

    <define name="MAG_X_NEUTRAL" value="-89"/>
    <define name="MAG_Y_NEUTRAL" value="20"/>
    <define name="MAG_Z_NEUTRAL" value="-30"/>

    <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>