<!-- ARDrone calibration file -->

<airframe>
  <section name="IMU" prefix="IMU_">
    <!-- Magneto calibration -->
<!-- 29 July 2015
    <define name="MAG_X_NEUTRAL" value="-99"/>
    <define name="MAG_Y_NEUTRAL" value="-185"/>
    <define name="MAG_Z_NEUTRAL" value="231"/>
    <define name="MAG_X_SENS" value="7.34644053151" integer="16"/>
    <define name="MAG_Y_SENS" value="7.4512906596" integer="16"/>
    <define name="MAG_Z_SENS" value="7.58830326448" integer="16"/>
-->
<!-- 16 Sept 2015 -->
    <define name="MAG_X_NEUTRAL" value="-103"/>
    <define name="MAG_Y_NEUTRAL" value="-147"/>
    <define name="MAG_Z_NEUTRAL" value="199"/>
    <define name="MAG_X_SENS" value="7.38783607911" integer="16"/>
    <define name="MAG_Y_SENS" value="7.51958336336" integer="16"/>
    <define name="MAG_Z_SENS" value="7.57326739805" integer="16"/>
    <!-- Magneto current calibration -->
<!--
    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
-->
    <define name= "MAG_X_CURRENT_COEF" value="-0.00261568295499"/>
    <define name= "MAG_Y_CURRENT_COEF" value="-0.00130036837045"/>
    <define name= "MAG_Z_CURRENT_COEF" value="-0.00277466508681"/>

  </section>
</airframe>
