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Calibration updates for the ENAC hexacopter

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Richard A Burton
2017-11-23 10:26:29 -08:00
parent c21a4d093b
commit 535ebdc22f
1 changed files with 21 additions and 15 deletions
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conf/airframes/HOOPERFLY/hooperfly_enac_hexa_elle0_v1_2.xml
+21 -15
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@@ -11,7 +11,13 @@
<airframe name="RacerPEX Hexa Elle0 v1_2">
<firmware name="rotorcraft">
<configure name="RADIO_CONTROL_LED" value="none"/>
<configure name="GPS_LED" value="3"/>
<target name="ap" board="elle0_1.2">
<define name="LOW_NOISE_THRESHOLD" value="3500"/>
<define name="LOW_NOISE_TIME" value="10"/>
</target>
<target name="nps" board="pc">
@@ -89,25 +95,25 @@
<section name="IMU" prefix="IMU_">
<!-- Accelerometer calibration -->
<define name="ACCEL_X_NEUTRAL" value="38"/>
<define name="ACCEL_Y_NEUTRAL" value="21"/>
<define name="ACCEL_Z_NEUTRAL" value="105"/>
<define name="ACCEL_X_SENS" value="4.88468392082" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.90041368723" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.85816720214" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="-33"/>
<define name="ACCEL_Y_NEUTRAL" value="-14"/>
<define name="ACCEL_Z_NEUTRAL" value="11"/>
<define name="ACCEL_X_SENS" value="2.45242373191" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.4451748556" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.43552174349" integer="16"/>
<!-- Magnetometer calibration -->
<define name="MAG_X_NEUTRAL" value="27"/>
<define name="MAG_Y_NEUTRAL" value="13"/>
<define name="MAG_Z_NEUTRAL" value="-22"/>
<define name="MAG_X_SENS" value="3.2538531096" integer="16"/>
<define name="MAG_Y_SENS" value="3.21222982076" integer="16"/>
<define name="MAG_Z_SENS" value="3.60646025473" integer="16"/>
<define name="MAG_X_NEUTRAL" value="20"/>
<define name="MAG_Y_NEUTRAL" value="-18"/>
<define name="MAG_Z_NEUTRAL" value="-224"/>
<define name="MAG_X_SENS" value="9.62234642975" integer="16"/>
<define name="MAG_Y_SENS" value="7.47779651094" integer="16"/>
<define name="MAG_Z_SENS" value="6.30221797702" integer="16"/>
<!-- Magnetometer current calibration -->
<define name= "MAG_X_CURRENT_COEF" value="1.85331539364e-05"/>
<define name= "MAG_Y_CURRENT_COEF" value="-0.000535349874617"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.000129485412212"/>
<define name= "MAG_X_CURRENT_COEF" value="0.000416430586191"/>
<define name= "MAG_Y_CURRENT_COEF" value="-0.000534940421211"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.000435069322094"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>