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fraser airframe: update mag calib and update mixing for new mounting order

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This commit is contained in:
Felix Ruess
2012-03-15 23:39:07 +01:00
parent d6d6b26c3a
commit 04e186d87a
1 changed files with 20 additions and 16 deletions
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conf/airframes/fraser_lisa_m_rotorcraft.xml
+20 -16
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@@ -4,13 +4,15 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0">
<subsystem name="radio_control" type="spektrum"/>
<!--subsystem name="radio_control" type="spektrum"/>
<define name="RADIO_MODE" value="RADIO_AUX2"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
<define name="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value="UART5"/>
<define name="OVERRIDE_UART5_IRQ_HANDLER"/>
<!--define name="ACTUATORS_START_DELAY" value="2"/-->
<define name="OVERRIDE_UART5_IRQ_HANDLER"/-->
<subsystem name="radio_control" type="ppm"/>
<define name="ACTUATORS_START_DELAY" value="3"/>
<define name="USE_INS_NAV_INIT"/>
<configure name="AHRS_ALIGNER_LED" value="3"/>
</target>
@@ -67,7 +69,8 @@
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x54, 0x52, 0x56, 0x58 }"/>
<!-- FRONT, BACK, LEFT, RIGHT -->
<define name="ADDR" value="{ 0x54, 0x52, 0x58, 0x56 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
@@ -78,10 +81,11 @@
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
<!-- front/back turning CCW, left/right CW -->
<define name="ROLL_COEF" value="{ 0, 0, 256, -256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<section name="IMU" prefix="IMU_">
@@ -89,12 +93,12 @@
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<define name="MAG_X_NEUTRAL" value="-98"/>
<define name="MAG_Y_NEUTRAL" value="-252"/>
<define name="MAG_Z_NEUTRAL" value="-122"/>
<define name="MAG_X_SENS" value="4.04659389111" integer="16"/>
<define name="MAG_Y_SENS" value="4.07651737489" integer="16"/>
<define name="MAG_Z_SENS" value="3.77693466173" integer="16"/>
<define name="MAG_X_NEUTRAL" value="-152"/>
<define name="MAG_Y_NEUTRAL" value="-51"/>
<define name="MAG_Z_NEUTRAL" value="10"/>
<define name="MAG_X_SENS" value="4.04042714046" integer="16"/>
<define name="MAG_Y_SENS" value="3.95350991963" integer="16"/>
<define name="MAG_Z_SENS" value="3.83055079257" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
@@ -176,8 +180,8 @@
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_PGAIN" value="-500"/>
<define name="PSI_DGAIN" value="-300"/>
<define name="PSI_IGAIN" value="-10"/>
<!-- feedforward -->