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

    <!-- Calibration Neutral -->
    <define name="GYRO_P_NEUTRAL" value="-10"/>
    <define name="GYRO_Q_NEUTRAL" value="13"/>
    <define name="GYRO_R_NEUTRAL" value="-51"/>

    <!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
    <define name="GYRO_P_SENS" value="4.359" integer="16"/>
    <define name="GYRO_Q_SENS" value="4.359" integer="16"/>
    <define name="GYRO_R_SENS" value="4.359" integer="16"/>

    <define name="ACCEL_X_NEUTRAL" value="33"/>
    <define name="ACCEL_Y_NEUTRAL" value="6"/>
    <define name="ACCEL_Z_NEUTRAL" value="-1"/>
    <define name="ACCEL_X_SENS" value="9.77539145594" integer="16"/>
    <define name="ACCEL_Y_SENS" value="9.85272479631" integer="16"/>
    <define name="ACCEL_Z_SENS" value="9.66085757306" integer="16"/>

    <define name="MAG_X_NEUTRAL" value="-116"/>
    <define name="MAG_Y_NEUTRAL" value="-19"/>
    <define name="MAG_Z_NEUTRAL" value="-96"/>
    <define name="MAG_X_SENS" value="4.07504846594" integer="16"/>
    <define name="MAG_Y_SENS" value="3.43965799165" integer="16"/>
    <define name="MAG_Z_SENS" value="3.98584774393" integer="16"/>

    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  45. )"/>
  </section>
</airframe>
