<airframe>

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

    <!-- Accelerometer calibration -->
    <define name="ACCEL_X_NEUTRAL" value="-38"/>
    <define name="ACCEL_Y_NEUTRAL" value="-9"/>
    <define name="ACCEL_Z_NEUTRAL" value="-137"/>
    <define name="ACCEL_X_SENS" value="2.44942966171" integer="16"/>
    <define name="ACCEL_Y_SENS" value="2.44671655107" integer="16"/>
    <define name="ACCEL_Z_SENS" value="2.44499730659" integer="16"/>

    <!-- Magnetometer calibration -->
<define name="MAG_X_NEUTRAL" value="22"/>
<define name="MAG_Y_NEUTRAL" value="5"/>
<define name="MAG_Z_NEUTRAL" value="-271"/>
<define name="MAG_X_SENS" value="10.1580792039" integer="16"/>
<define name="MAG_Y_SENS" value="8.29839966029" integer="16"/>
<define name="MAG_Z_SENS" value="6.00338731528" integer="16"/>

    <!-- Magnetometer current calibration -->
    <define name= "MAG_X_CURRENT_COEF" value="-0.00190237658801"/>
    <define name= "MAG_Y_CURRENT_COEF" value="0.00206818172337"/>
    <define name= "MAG_Z_CURRENT_COEF" value="0.00138575021393"/>

    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>

  </section>

</airframe>
