From 002a36c4a75e8cef3e5a896044fec00e66fb06e4 Mon Sep 17 00:00:00 2001
From: Michal Podhradsky <michal.podhradsky@aggiemail.usu.edu>
Date: Fri, 24 Feb 2017 19:43:00 -0800
Subject: [PATCH] [aggieair] Added calibration values for Iris

---
 .../airframes/AGGIEAIR/aggieair_iris_indi.xml | 94 ++++++++++++++-----
 conf/telemetry/AGGIEAIR/aggieair_iris.xml     |  2 +-
 2 files changed, 73 insertions(+), 23 deletions(-)

diff --git a/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml b/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
index 6a230277ed..ab64fd87fc 100644
--- a/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
@@ -12,7 +12,7 @@
 
   <firmware name="rotorcraft">
 
-    <target name="ap" board="px4fmu_2.4_chibios" />
+    <target name="ap" board="px4fmu_2.4" />
 
     <!-- amount of time it take for the bat to check -->
     <!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
@@ -33,15 +33,18 @@
     </module-->
 
 
-    <module name="ahrs" type="int_cmpl_quat">
+    <!--module name="ahrs" type="int_cmpl_quat">
       <define name="AHRS_ICQ_IMU_ID" value="IMU_PX4_ID" />
       <define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" />
       <configure name="USE_MAGNETOMETER" value="TRUE"/>
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
-    </module>
+    </module-->
 
     <module name="ahrs" type="float_mlkf">
-      <configure name="SECONDARY_AHRS" value="float_mlkf"/>
+      <!--configure name="SECONDARY_AHRS" value="float_mlkf"/-->
+      <define name="AHRS_MLKF_IMU_ID" value="IMU_PX4_ID"/>
+      <!-- use onboard mag -->
+      <!--define name="AHRS_MLKF_MAG_ID" value="MAG_HMC58XX_SENDER_ID" /-->
     </module>
 
 
@@ -140,7 +143,7 @@
     </module>
 
     <!-- external mag for better heading estimate -->
-    <module name="mag" type="hmc58xx">
+    <!--module name="mag" type="hmc58xx">
       <configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
       <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
       <define name="HMC58XX_CHAN_X" value="1"/>
@@ -149,7 +152,7 @@
       <define name="HMC58XX_CHAN_X_SIGN" value="-"/>
       <define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
       <define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
-    </module>
+    </module-->
 
     <module name="air_data"/>
   </modules>
@@ -160,19 +163,63 @@
   </section>
 
   <section name="IMU" prefix="IMU_">
-    <define name="ACCEL_X_NEUTRAL" value="-50"/>
-    <define name="ACCEL_Y_NEUTRAL" value="189"/>
-    <define name="ACCEL_Z_NEUTRAL" value="270"/>
-    <define name="ACCEL_X_SENS" value="0.59633793275" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="0.616609304777" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="0.624348656549" integer="16"/>
 
-    <define name="MAG_X_NEUTRAL" value="75"/>
-    <define name="MAG_Y_NEUTRAL" value="-10"/>
-    <define name="MAG_Z_NEUTRAL" value="7"/>
-    <define name="MAG_X_SENS" value="4.12309023427" integer="16"/>
-    <define name="MAG_Y_SENS" value="4.23759023915" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.61141601045" integer="16"/>
+    <!-- #3 calibraton -->
+    <define name="ACCEL_X_NEUTRAL" value="-2"/>
+    <define name="ACCEL_Y_NEUTRAL" value="23"/>
+    <define name="ACCEL_Z_NEUTRAL" value="21"/>
+    <define name="ACCEL_X_SENS" value="7.68290727703" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="7.41725548536" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="7.25648506436" integer="16"/>
+
+    <!--#1 calibration -->
+    <!--
+    <define name="ACCEL_X_NEUTRAL" value="0"/>
+    <define name="ACCEL_Y_NEUTRAL" value="12"/>
+    <define name="ACCEL_Z_NEUTRAL" value="23"/>
+    <define name="ACCEL_X_SENS" value="7.40346702354" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="7.31092326815" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="7.60884042632" integer="16"/>
+    -->
+
+    <!-- #3 internal mag -->
+    <!--
+    <define name="MAG_X_NEUTRAL" value="-831"/>
+    <define name="MAG_Y_NEUTRAL" value="-2458"/>
+    <define name="MAG_Z_NEUTRAL" value="1623"/>
+    <define name="MAG_X_SENS" value="0.383688492241" integer="16"/>
+    <define name="MAG_Y_SENS" value="0.363160500566" integer="16"/>
+    <define name="MAG_Z_SENS" value="0.398814954916" integer="16"/>
+    -->
+
+    <!-- #3 external mag -->
+    <!--
+    <define name="MAG_X_NEUTRAL" value="100"/>
+    <define name="MAG_Y_NEUTRAL" value="-11"/>
+    <define name="MAG_Z_NEUTRAL" value="-84"/>
+    <define name="MAG_X_SENS" value="3.95372806212" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.85554408345" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.43807458722" integer="16"/>
+    -->
+
+    <!-- #1 external mag -->
+    <!--
+    <define name="MAG_X_NEUTRAL" value="90"/>
+    <define name="MAG_Y_NEUTRAL" value="-12"/>
+    <define name="MAG_Z_NEUTRAL" value="3"/>
+    <define name="MAG_X_SENS" value="3.9581923374" integer="16"/>
+    <define name="MAG_Y_SENS" value="4.06927263588" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.43592657252" integer="16"/>
+    -->
+
+    <!-- #1 internal mag -->
+    <define name="MAG_X_NEUTRAL" value="-770"/>
+    <define name="MAG_Y_NEUTRAL" value="2338"/>
+    <define name="MAG_Z_NEUTRAL" value="-4760"/>
+    <define name="MAG_X_SENS" value="0.37262897642" integer="16"/>
+    <define name="MAG_Y_SENS" value="0.367752873196" integer="16"/>
+    <define name="MAG_Z_SENS" value="0.388678431908" integer="16"/>
+
 
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg" />
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg" />
@@ -226,13 +273,16 @@
   <section name="INS" prefix="INS_">
     <define name="SONAR_MAX_RANGE" value="5.0" />
     <define name="SONAR_UPDATE_ON_AGL" value="TRUE" />
-    <!-- Portland -->
-    <define name="H_X" value="0.3702"/>
-    <define name="H_Y" value="0.1022"/>
-    <define name="H_Z" value="0.9233"/>
+    <!-- Portland 
+    Normalize[{19443.3, 5354.0,48519.5}] = (0.37004, 0.101896, 0.923411)-->
+    <define name="H_X" value="0.37004"/>
+    <define name="H_Y" value="0.101896"/>
+    <define name="H_Z" value="0.923411"/>
     <!-- trust more the baro over the gps alt -->
+    <!--
     <define name="INV_NXZ" value="0.3"/>
     <define name="INV_NH" value="2.0"/>
+    -->
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/telemetry/AGGIEAIR/aggieair_iris.xml b/conf/telemetry/AGGIEAIR/aggieair_iris.xml
index 5e6ddc963f..577f1c26b1 100644
--- a/conf/telemetry/AGGIEAIR/aggieair_iris.xml
+++ b/conf/telemetry/AGGIEAIR/aggieair_iris.xml
@@ -73,7 +73,7 @@
       <message name="AHRS_QUAT_INT"      period=".25"/>
       <message name="AHRS_EULER_INT"     period=".1"/>
       <message name="AHRS_EULER"         period=".1"/>
-<!--      <message name="AHRS_RMAT_INT"   period=".5"/> -->
+      <message name="STATE_FILTER_STATUS"period=".5"/>
     </mode>
 
     <mode name="rate_loop">