From 2512e21b0a888ba3602be099912c257839ba73ca Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Mon, 16 Mar 2009 19:00:33 +0000
Subject: [PATCH] airframe file updated

---
 conf/airframes/booz2_flixr.xml | 22 +++++++++++++---------
 1 file changed, 13 insertions(+), 9 deletions(-)

diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index f8eda15b68..4ea70840d4 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -35,17 +35,17 @@
 
   <section name="IMU" prefix="IMU_">
 
-    <define name="GYRO_X_CHAN" value="1"/>
-    <define name="GYRO_Y_CHAN" value="0"/>
-    <define name="GYRO_Z_CHAN" value="2"/>
+    <define name="GYRO_P_CHAN" value="1"/>
+    <define name="GYRO_Q_CHAN" value="0"/>
+    <define name="GYRO_R_CHAN" value="2"/>
 
-    <define name="GYRO_X_NEUTRAL" value="32372"/>
-    <define name="GYRO_Y_NEUTRAL" value="32080"/>
-    <define name="GYRO_Z_NEUTRAL" value="31978"/>
+    <define name="GYRO_P_NEUTRAL" value="32372"/>
+    <define name="GYRO_Q_NEUTRAL" value="32080"/>
+    <define name="GYRO_R_NEUTRAL" value="31978"/>
 
-    <define name="GYRO_X_SENS" value=" 1.1032765"    integer="16"/>
-    <define name="GYRO_Y_SENS" value="-1.1360802599" integer="16"/>
-    <define name="GYRO_Z_SENS" value="-1.1249874614" integer="16"/>
+    <define name="GYRO_P_SENS" value=" 1.1032765"    integer="16"/>
+    <define name="GYRO_Q_SENS" value="-1.1360802599" integer="16"/>
+    <define name="GYRO_R_SENS" value="-1.1249874614" integer="16"/>
   
     <define name="ACCEL_X_CHAN" value="3"/>
     <define name="ACCEL_Y_CHAN" value="5"/>
@@ -71,6 +71,10 @@
     <define name="MAG_X_NEUTRAL" value="2054"/>
     <define name="MAG_Y_NEUTRAL" value="1963"/>
     <define name="MAG_Z_NEUTRAL" value="2078"/>
+    
+    <define name="BODY_TO_IMU_PHI"   value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
+    <define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
+    <define name="BODY_TO_IMU_PSI"   value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
   </section>