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[ardrone] Default IMU calibration in header file

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This commit is contained in:
Christophe De Wagter
2013-08-27 16:59:09 +02:00
parent b895ded49c
commit 17fa58d265
2 changed files with 79 additions and 26 deletions
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conf/airframes/ardrone2_raw.xml
+2 -26
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@@ -72,35 +72,11 @@
<define name="ACCEL_X_NEUTRAL" value="2056" />
<define name="ACCEL_Y_NEUTRAL" value="2060" />
<define name="ACCEL_Z_NEUTRAL" value="2052" />
<define name="ACCEL_X_SENS" value="19.1079036954" integer="16" />
<define name="ACCEL_Y_SENS" value="19.5393623518" integer="16" />
<define name="ACCEL_Z_SENS" value="19.6539180847" integer="16" />
<define name="ACCEL_X_SIGN" value="1" />
<define name="ACCEL_Y_SIGN" value="1" />
<define name="ACCEL_Z_SIGN" value="1" />
<define name="GYRO_P_SENS_NUM" value="4359" />
<define name="GYRO_P_SENS_DEN" value="1000" />
<define name="GYRO_Q_SENS_NUM" value="4359" />
<define name="GYRO_Q_SENS_DEN" value="1000" />
<define name="GYRO_R_SENS_NUM" value="4359" />
<define name="GYRO_R_SENS_DEN" value="1000" />
<define name="GYRO_P_SIGN" value="1" />
<define name="GYRO_Q_SIGN" value="1" />
<define name="GYRO_R_SIGN" value="1" />
<define name="MAG_X_NEUTRAL" value="-9"/>
<define name="MAG_Y_NEUTRAL" value="1"/>
<define name="MAG_Z_NEUTRAL" value="97"/>
<define name="MAG_X_SENS" value="15.5831909917" integer="16"/>
<define name="MAG_Y_SENS" value="15.518618593" integer="16"/>
<define name="MAG_Z_SENS" value="16.1875786042" integer="16"/>
<define name="MAG_Y_NEUTRAL" value="1"/>
<define name="MAG_Z_NEUTRAL" value="97"/>
<define name="MAG_X_SIGN" value="1" />
<define name="MAG_Y_SIGN" value="1" />
<define name="MAG_Z_SIGN" value="1" />
<!-- roll -->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg" />