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airframe: mag calibration update

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This commit is contained in:
Felix Ruess
2010-06-20 18:04:48 +00:00
parent 9bf16e8193
commit 788cd74886
1 changed files with 31 additions and 18 deletions
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conf/airframes/booz2_flixr.xml
+31 -18
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@@ -68,14 +68,27 @@
<define name="MAG_Y_CHAN" value="0" />
<define name="MAG_Z_CHAN" value="2" />
<!--
<define name="MAG_X_SENS" value="-3.3915023" integer="16" />
<define name="MAG_Y_SENS" value="3.3855561" integer="16" />
<define name="MAG_Z_SENS" value="-4.50143271" integer="16" />
-->
<define name="MAG_45_HACK" value="1" />
<!--define name="MAG_X_SENS" value="-5.14821844457 * sqrt(2)/2" integer="16"/-->
<!--define name="MAG_Y_SENS" value="5.11810156597 * sqrt(2)/2" integer="16"/-->
<define name="MAG_X_SENS" value="-3.640340173" integer="16"/>
<define name="MAG_Y_SENS" value="3.619044324" integer="16"/>
<define name="MAG_Z_SENS" value="-5.07618333556" integer="16"/>
<define name="MAG_X_NEUTRAL" value="2059"/>
<define name="MAG_Y_NEUTRAL" value="1944"/>
<define name="MAG_Z_NEUTRAL" value="2099"/>
<!--
<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="RadOfDeg(0.)" />
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)" />
@@ -85,27 +98,27 @@
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
<define name="SP_MAX_R" value="10000" />
<define name="DEADBAND_P" value="0" />
<define name="DEADBAND_Q" value="0" />
<define name="DEADBAND_R" value="200" />
<define name="REF_TAU" value="4" />
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
<define name="SP_MAX_R" value="10000" />
<define name="DEADBAND_P" value="0" />
<define name="DEADBAND_Q" value="0" />
<define name="DEADBAND_R" value="200" />
<define name="REF_TAU" value="4" />
<!-- feedback -->
<define name="GAIN_P" value="-400" />
<define name="GAIN_Q" value="-400" />
<define name="GAIN_R" value="-350" />
<!-- feedback -->
<define name="GAIN_P" value="-400" />
<define name="GAIN_Q" value="-400" />
<define name="GAIN_R" value="-350" />
<define name="IGAIN_P" value="-75" />
<define name="IGAIN_Q" value="-75" />
<define name="IGAIN_R" value="-50" />
<define name="IGAIN_P" value="-75" />
<define name="IGAIN_Q" value="-75" />
<define name="IGAIN_R" value="-50" />
<!-- feedforward -->
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
<!-- feedforward -->
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
</section>