<!-- Default Aspirin V2.1 values based on the datasheet -->
<!-- You can also just leave out those defines then the defaults will be provided by imu_aspirin2.h -->

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

    <!-- Use default driver values for gyro -->
    <!-- Calibration Neutral -->
    <!--define name="GYRO_P_NEUTRAL" value="0"/>
    <define name="GYRO_Q_NEUTRAL" value="0"/>
    <define name="GYRO_R_NEUTRAL" value="0"/-->

    <!-- 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="20"/>
    <define name="ACCEL_Y_NEUTRAL" value="-64"/>
    <define name="ACCEL_Z_NEUTRAL" value="-56"/>
    <define name="ACCEL_X_SENS" value="4.86426509754" integer="16"/>
    <define name="ACCEL_Y_SENS" value="4.90383669256" integer="16"/>
    <define name="ACCEL_Z_SENS" value="4.79740334168" integer="16"/>

    <define name="MAG_X_NEUTRAL" value="-15"/>
    <define name="MAG_Y_NEUTRAL" value="171"/>
    <define name="MAG_Z_NEUTRAL" value="-137"/>
    <define name="MAG_X_SENS" value="4.37201780121" integer="16"/>
    <define name="MAG_Y_SENS" value="4.23841579524" integer="16"/>
    <define name="MAG_Z_SENS" value="4.33314434312" integer="16"/>
  </section>
</airframe>
