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rough calibration for aspirin 1

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This commit is contained in:
Antoine Drouin
2010-07-26 21:09:57 +00:00
parent 9e7300663d
commit 4fbd5ef513
1 changed files with 62 additions and 3 deletions
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conf/airframes/Poine/booz2_a8.xml
+62 -3
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@@ -1,4 +1,4 @@
<!-- this is the biplan equiped with Lisa/L#XXX, crista IMU and asctec V2 controllers -->
<!-- this is the biplan equiped with Lisa/L#XXX, aspirin IMU and asctec V2 controllers -->
<airframe name="booz2_a7">
@@ -32,7 +32,8 @@
</section>
<!-- this is my crista -->
<section name="IMU" prefix="IMU_">
<!--
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_SIGN" value="-1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
@@ -77,7 +78,6 @@
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 45.)"/>
<!-- 3 -->
<define name="GYRO_P_CHAN" value="0"/>
<define name="GYRO_Q_CHAN" value="4"/>
<define name="GYRO_R_CHAN" value="1"/>
@@ -86,6 +86,65 @@
<define name="ACCEL_Z_CHAN" value="6"/>
</section>
-->
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_SIGN" value="-1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value=" 1"/>
<define name="GYRO_P_NEUTRAL" value="186"/>
<define name="GYRO_Q_NEUTRAL" value="-21"/>
<define name="GYRO_R_NEUTRAL" value="25"/>
<define name="GYRO_P_SENS" value=" 5." integer="16"/>
<define name="GYRO_Q_SENS" value=" 5." integer="16"/>
<define name="GYRO_R_SENS" value=" 5." 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="ACCEL_X_NEUTRAL" value="32857"/>
<define name="ACCEL_Y_NEUTRAL" value="32429"/>
<define name="ACCEL_Z_NEUTRAL" value="32593"/>
<define name="ACCEL_X_SENS" value="-2.58273701242" integer="16"/>
<define name="ACCEL_Y_SENS" value="-2.54076215332" integer="16"/>
<define name="ACCEL_Z_SENS" value="-2.57633620646" integer="16"/>
<define name="MAG_X_SIGN" value="-43"/>
<define name="MAG_Y_SIGN" value=" 49"/>
<define name="MAG_Z_SIGN" value="-66"/>
<define name="MAG_X_NEUTRAL" value="-43"/>
<define name="MAG_Y_NEUTRAL" value=" 49"/>
<define name="MAG_Z_NEUTRAL" value="-66"/>
<define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
<define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
<define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 45.)"/>
<define name="GYRO_P_CHAN" value="0"/>
<define name="GYRO_Q_CHAN" value="4"/>
<define name="GYRO_R_CHAN" value="1"/>
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="2"/>
<define name="ACCEL_Z_CHAN" value="6"/>
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>