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Update imu calibration for JT

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This commit is contained in:
Allen
2011-05-12 17:20:06 -07:00
parent f41837c387
commit 2fce934d94
2 changed files with 34 additions and 1 deletions
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conf/airframes/esden/calib/aspirin_jtm.xml
+31
View File
@@ -0,0 +1,31 @@
<airframe>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="-33"/>
<define name="GYRO_Q_NEUTRAL" value="-10"/>
<define name="GYRO_R_NEUTRAL" value="-25"/>
<define name="GYRO_P_SENS" value="4.412" integer="16"/>
<define name="GYRO_Q_SENS" value="4.412" integer="16"/>
<define name="GYRO_R_SENS" value="4.412" integer="16"/>
<define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
<define name="GYRO_PR_SENS" value="0.0" integer="16"/>
<define name="GYRO_QR_SENS" value="0.0" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="2"/>
<define name="ACCEL_Y_NEUTRAL" value="-2"/>
<define name="ACCEL_Z_NEUTRAL" value="-36"/>
<define name="ACCEL_X_SENS" value="37.9432590968" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.1066818314" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.5573406045" integer="16"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="2"/>
<define name="MAG_X_SENS" value="3.17378921476" integer="16"/>
<define name="MAG_Y_SENS" value="3.14663275967" integer="16"/>
<define name="MAG_Z_SENS" value="3.26531022727" integer="16"/>
<define name="MAG_XY_SENS" value="0.0" integer="16"/>
<define name="MAG_XZ_SENS" value="0.0" integer="16"/>
<define name="MAG_YZ_SENS" value="0.0" integer="16"/>
</section>
</airframe>
conf/airframes/esden/jt_lisam.xml
+3 -1
View File
@@ -39,7 +39,7 @@
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<include href="conf/airframes/esden/calib/aspirin_012.xml"/>
<include href="conf/airframes/esden/calib/aspirin_jtm.xml"/>
<section name="IMU" prefix="IMU_">
@@ -144,6 +144,8 @@
<define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/>
<!-- FIXME - turn this back off once we have a working IMU! -->
<define name="MAG_UPDATE_YAW_ONLY" value="1"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">