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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
-24
View File
@@ -72,35 +72,11 @@
<define name="ACCEL_X_NEUTRAL" value="2056" /> <define name="ACCEL_X_NEUTRAL" value="2056" />
<define name="ACCEL_Y_NEUTRAL" value="2060" /> <define name="ACCEL_Y_NEUTRAL" value="2060" />
<define name="ACCEL_Z_NEUTRAL" value="2052" /> <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_X_NEUTRAL" value="-9"/>
<define name="MAG_Y_NEUTRAL" value="1"/> <define name="MAG_Y_NEUTRAL" value="1"/>
<define name="MAG_Z_NEUTRAL" value="97"/> <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_X_SIGN" value="1" />
<define name="MAG_Y_SIGN" value="1" />
<define name="MAG_Z_SIGN" value="1" />
<!-- roll --> <!-- roll -->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg" /> <define name="BODY_TO_IMU_PHI" value="0." unit="deg" />
sw/airborne/subsystems/imu/imu_ardrone2_raw.h
+77
View File
@@ -31,6 +31,83 @@
#include "generated/airframe.h" #include "generated/airframe.h"
#include "navdata.h" #include "navdata.h"
#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
#define IMU_MAG_X_SIGN 1
#define IMU_MAG_Y_SIGN 1
#define IMU_MAG_Z_SIGN 1
#endif
#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
#define IMU_GYRO_P_SIGN 1
#define IMU_GYRO_Q_SIGN 1
#define IMU_GYRO_R_SIGN 1
#endif
#if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
#define IMU_ACCEL_X_SIGN 1
#define IMU_ACCEL_Y_SIGN 1
#define IMU_ACCEL_Z_SIGN 1
#endif
/** default gyro sensitivy and neutral from the datasheet
* MPU with 2000 deg/s
*/
#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
#define IMU_GYRO_P_SENS 4.359
#define IMU_GYRO_P_SENS_NUM 4359
#define IMU_GYRO_P_SENS_DEN 1000
#define IMU_GYRO_Q_SENS 4.359
#define IMU_GYRO_Q_SENS_NUM 4359
#define IMU_GYRO_Q_SENS_DEN 1000
#define IMU_GYRO_R_SENS 4.359
#define IMU_GYRO_R_SENS_NUM 4359
#define IMU_GYRO_R_SENS_DEN 1000
#endif
#if !defined IMU_GYRO_P_NEUTRAL & !defined IMU_GYRO_Q_NEUTRAL & !defined IMU_GYRO_R_NEUTRAL
#define IMU_GYRO_P_NEUTRAL 0
#define IMU_GYRO_Q_NEUTRAL 0
#define IMU_GYRO_R_NEUTRAL 0
#endif
/** default accel sensitivy from the datasheet
* 512 LSB/g
*/
#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
#define IMU_ACCEL_X_SENS 19.5
#define IMU_ACCEL_X_SENS_NUM 195
#define IMU_ACCEL_X_SENS_DEN 10
#define IMU_ACCEL_Y_SENS 19.5
#define IMU_ACCEL_Y_SENS_NUM 195
#define IMU_ACCEL_Y_SENS_DEN 10
#define IMU_ACCEL_Z_SENS 19.5
#define IMU_ACCEL_Z_SENS_NUM 195
#define IMU_ACCEL_Z_SENS_DEN 10
#endif
#if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL
#define IMU_ACCEL_X_NEUTRAL 2048
#define IMU_ACCEL_Y_NEUTRAL 2048
#define IMU_ACCEL_Z_NEUTRAL 2048
#endif
#if !defined IMU_MAG_X_SENS & !defined IMU_MAG_Y_SENS & !defined IMU_MAG_Z_SENS
#define IMU_MAG_X_SENS 16.0
#define IMU_MAG_X_SENS_NUM 16
#define IMU_MAG_X_SENS_DEN 1
#define IMU_MAG_Y_SENS 16.0
#define IMU_MAG_Y_SENS_NUM 16
#define IMU_MAG_Y_SENS_DEN 1
#define IMU_MAG_Z_SENS 16.0
#define IMU_MAG_Z_SENS_NUM 16
#define IMU_MAG_Z_SENS_DEN 1
#endif
#if !defined IMU_MAG_X_NEUTRAL & !defined IMU_MAG_Y_NEUTRAL & !defined IMU_MAG_Z_NEUTRAL
#define IMU_MAG_X_NEUTRAL 0
#define IMU_MAG_Y_NEUTRAL 0
#define IMU_MAG_Z_NEUTRAL 0
#endif
void navdata_event(void); void navdata_event(void);
static inline void imu_ardrone2_event ( void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void)) static inline void imu_ardrone2_event ( void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))