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Current compensation code is removed so these defines don't do anything anymore. (#3496)
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This commit is contained in:
Christophe De Wagter
2025-07-03 22:43:58 +02:00
committed by GitHub
parent 8511252b9b
commit 834a420e9c
71 changed files with 3 additions and 386 deletions
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conf/airframes/BR/DelFlyDualPWMservo.xml
-4
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@@ -91,10 +91,6 @@
<!-- MAGNETO CURRENT CALIBRATION -->
<define name= "MAG_X_CURRENT_COEF" value="-0.0176704713698"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.0174222594634"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.0187570316492"/>
</section>
<section name="AUTOPILOT">
conf/airframes/CDW/cdw_mavtec.xml
-4
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@@ -112,10 +112,6 @@
<define name="MAG_Y_SENS" value="3.74966778358" integer="16"/>
<define name="MAG_Z_SENS" value="4.05311539389" integer="16"/>
<define name= "MAG_X_CURRENT_COEF" value="0.00322676138551"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.00266367218758"/>
<define name= "MAG_Z_CURRENT_COEF" value="-0.0004557295634"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="270." unit="deg"/>
conf/airframes/ENAC/hybrid/falcon_v1.xml
-7
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@@ -120,14 +120,7 @@
<section name="IMU" prefix="IMU_">
<!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
<!-- <define name="MAG_X_CURRENT_COEF" value="0."/>
<define name="MAG_Y_CURRENT_COEF" value="0."/>
<define name="MAG_Z_CURRENT_COEF" value="0."/> -->
<!--define name= "MAG_X_CURRENT_COEF" value="-0.511272562535"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.244268225323"/>
<define name= "MAG_Z_CURRENT_COEF" value="1.59518542807"/-->
<define name="MAG_X_NEUTRAL" value="-1057"/>
<define name="MAG_Y_NEUTRAL" value="-5436"/>
<define name="MAG_Z_NEUTRAL" value="-7865"/>
conf/airframes/ENAC/hybrid/falcon_v2.xml
-3
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@@ -148,9 +148,6 @@
<section name="IMU" prefix="IMU_">
<!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
<define name= "MAG_X_CURRENT_COEF" value="319.383625919"/>
<define name= "MAG_Y_CURRENT_COEF" value="-32.4484676944"/>
<define name= "MAG_Z_CURRENT_COEF" value="-1421.95651899"/>
<define name="MAG_X_NEUTRAL" value="-33"/>
<define name="MAG_Y_NEUTRAL" value="1485"/>
conf/airframes/ENAC/quadrotor/niquad_wind.xml
-4
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@@ -129,10 +129,6 @@
<define name="MAG_Y_SENS" value="0.69808834351" integer="16"/>
<define name="MAG_Z_SENS" value="0.692571212902" integer="16"/>
<!--define name= "MAG_X_CURRENT_COEF" value="118.702992289"/>
<define name= "MAG_Y_CURRENT_COEF" value="135.416707118"/>
<define name= "MAG_Z_CURRENT_COEF" value="-301.422405936"/-->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/HOOPERFLY/hooperfly_enac_hexa_elle0_v1_2.xml
-5
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@@ -109,11 +109,6 @@
<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="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"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
-5
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@@ -109,11 +109,6 @@
<define name="MAG_Y_SENS" value="3.22595333564" integer="16"/>
<define name="MAG_Z_SENS" value="3.57743817336" integer="16"/>
<!-- Magnetometer current calibration -->
<define name= "MAG_X_CURRENT_COEF" value="-7.06593991654e-05"/>
<define name= "MAG_Y_CURRENT_COEF" value="-0.000163433776094"/>
<define name= "MAG_Z_CURRENT_COEF" value="-0.000658850176027"/>
<define name="BODY_TO_IMU_PHI" value="0.51" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0.47" unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_elle0_v1_2.xml
-5
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@@ -105,11 +105,6 @@
<define name="MAG_Y_SENS" value="8.37596334381" integer="16"/>
<define name="MAG_Z_SENS" value="6.32684865126" integer="16"/>
<!-- Magnetometer current calibration -->
<define name= "MAG_X_CURRENT_COEF" value="-0.00171135592158"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.000627013357834"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.00187410090891"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
-5
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@@ -105,11 +105,6 @@
<define name="MAG_Y_SENS" value="3.18637372361" integer="16"/>
<define name="MAG_Z_SENS" value="3.77559309241" integer="16"/>
<!-- Magnetometer current calibration -->
<define name= "MAG_X_CURRENT_COEF" value="0.00162839672033"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.00309421447631"/>
<define name= "MAG_Z_CURRENT_COEF" value="-0.00642385318878"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
-5
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@@ -109,11 +109,6 @@
<define name="MAG_Y_SENS" value="3.21222982076" integer="16"/>
<define name="MAG_Z_SENS" value="3.60646025473" 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="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
-5
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@@ -100,11 +100,6 @@
<define name="MAG_Y_SENS" value="7.10785179117" integer="16"/>
<define name="MAG_Z_SENS" value="6.84586545929" integer="16"/>
<!-- Magnetometer current calibration -->
<define name= "MAG_X_CURRENT_COEF" value="-0.00211511755236"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.00139744019375"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.00102508387905"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2_212.xml
-5
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@@ -18,11 +18,6 @@
<define name="MAG_Y_SENS" value="8.68135381265" integer="16"/>
<define name="MAG_Z_SENS" value="6.74384859593" integer="16"/>
<!-- Magnetometer current calibration -->
<define name= "MAG_X_CURRENT_COEF" value="0.00351822710955"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.00208165834374"/>
<define name= "MAG_Z_CURRENT_COEF" value="-0.00525676641302"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2_213.xml
-5
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@@ -18,11 +18,6 @@
<define name="MAG_Y_SENS" value="8.29839966029" integer="16"/>
<define name="MAG_Z_SENS" value="6.00338731528" integer="16"/>
<!-- Magnetometer current calibration -->
<define name= "MAG_X_CURRENT_COEF" value="-0.00190237658801"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.00206818172337"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.00138575021393"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2_214.xml
-5
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@@ -18,11 +18,6 @@
<define name="MAG_Y_SENS" value="8.37184374456" integer="16"/>
<define name="MAG_Z_SENS" value="6.60725149679" integer="16"/>
<!-- Magnetometer current calibration -->
<define name= "MAG_X_CURRENT_COEF" value="-0.00284737868011"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.00240832136469"/>
<define name= "MAG_Z_CURRENT_COEF" value="-0.000908830770325"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2_215.xml
-5
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@@ -18,11 +18,6 @@
<define name="MAG_Y_SENS" value="8.84361654773" integer="16"/>
<define name="MAG_Z_SENS" value="7.59864656662" integer="16"/>
<!-- Magnetometer current calibration -->
<define name= "MAG_X_CURRENT_COEF" value="-0.002616138231"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.00334020213634"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.00758478782222"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2_216.xml
-5
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@@ -18,11 +18,6 @@
<define name="MAG_Y_SENS" value="8.07172424255" integer="16"/>
<define name="MAG_Z_SENS" value="7.17342108751" integer="16"/>
<!-- Magnetometer current calibration -->
<define name= "MAG_X_CURRENT_COEF" value="-0.00118863160987"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.00188133273043"/>
<define name= "MAG_Z_CURRENT_COEF" value="-0.000581966610048"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
-5
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@@ -105,11 +105,6 @@
<define name="MAG_Y_SENS" value="3.30429585831" integer="16"/>
<define name="MAG_Z_SENS" value="3.75140831368" integer="16"/>
<!-- Magnetometer current calibration -->
<define name= "MAG_X_CURRENT_COEF" value="-0.000907035498531"/>
<define name= "MAG_Y_CURRENT_COEF" value="-0.00160202369806"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.00426261634789"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/MM/bebop.xml
-5
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@@ -97,11 +97,6 @@
<define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
<define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>
<!-- Magneto current calibration -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/MM/bebop2_lum1_xbee.xml
-4
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@@ -96,10 +96,6 @@
<define name="MAG_Y_SENS" value="6.56528562457" integer="16"/>
<define name="MAG_Z_SENS" value="6.89245853894" integer="16"/>
<define name= "MAG_X_CURRENT_COEF" value="0.00349278666278"/>
<define name= "MAG_Y_CURRENT_COEF" value="-0.00294581023579"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.00744261463196"/>
</section>
<!-- local magnetic field -->
conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml
-7
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@@ -375,13 +375,6 @@ The most crucial part for the magnetometer calibration:
<!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!-- TODO: at least 3 axis in worst case -->
<!-- Magneto current calibration TODO:
Best done outside, set it to RC direct and throttle up and down with raw messages -->
<!-- likely to be a bit of the same since all Iris Plus are the Same (almost ;)-->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<!-- most likly OK with an physically unmodified airframe -->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
conf/airframes/OPENUAS/openuas_df_mini_spirit.xml
-14
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@@ -591,11 +591,6 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Y_SENS" value="3.6213651898" integer="16"/>
<define name="MAG_Z_SENS" value="4.01635370187" integer="16"/>
<!-- Current compensation for the magentometer currently IN USE -->
<!-- No Calib YET -->
<define name= "MAG_X_CURRENT_COEF" value="-0.677655963532"/>
<define name= "MAG_Y_CURRENT_COEF" value="-7.38678178538"/>
<define name= "MAG_Z_CURRENT_COEF" value="-5.02116042576"/>
<!-- if using the internal magnetometer and set IMU_MPU9250_READ_MAG" to TRUE"/>-->
<!--
@@ -608,11 +603,6 @@ The most crucial part for the magnetometer calibration:
-->
<!-- For the magentometer currently in use -->
<!--
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-->
<!-- if using the other ST magnetometer on the main board -->
<!--
@@ -624,10 +614,6 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Z_SENS" value="4.27632896683" integer="16"/>-->
<!-- for the magentometer currently in use -->
<!--
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>-->
<!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!-- TODO: at least 3 axis in worst case -->
conf/airframes/OPENUAS/openuas_durafly_g2.xml
-5
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@@ -391,11 +391,6 @@
<!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!-- TODO: at least 3 axis in worst case -->
<!-- TODO: WITH battery in aircraft body at final spot! -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/><!-- Todo WITH battery in aircraft body at final spot! -->
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<define name="BODY_TO_IMU_PHI" value="0.0"/>
<define name="BODY_TO_IMU_THETA" value="0.0"/>
<define name="BODY_TO_IMU_PSI" value="0.0"/>
conf/airframes/OPENUAS/openuas_durafly_goblin.xml
-4
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@@ -285,10 +285,6 @@ NOTES:
<define name="MAG_Y_SENS" value="3.6213651898" integer="16"/>
<define name="MAG_Z_SENS" value="4.01635370187" integer="16"/>
<!-- TODO: Calibrate -->
<define name="MAG_X_CURRENT_COEF" value="-0.677655963532"/>
<define name="MAG_Y_CURRENT_COEF" value="-7.38678178538"/>
<define name="MAG_Z_CURRENT_COEF" value="-5.02116042576"/>
</section>
<section name="AHRS" prefix="AHRS_">
conf/airframes/OPENUAS/openuas_eflite_t28.xml
-16
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@@ -692,11 +692,6 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Y_SENS" value="3.6213651898" integer="16"/>
<define name="MAG_Z_SENS" value="4.01635370187" integer="16"/>
<!-- Current compensation for the magentometer currently IN USE -->
<!-- TODO: Redo Calibration-->
<define name="MAG_X_CURRENT_COEF" value="-0.677655963532"/>
<define name="MAG_Y_CURRENT_COEF" value="-7.38678178538"/>
<define name="MAG_Z_CURRENT_COEF" value="-5.02116042576"/>
<!-- if using the internal magnetometer and set IMU_MPU9250_READ_MAG" to TRUE"/>-->
<!--
@@ -708,12 +703,6 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Z_SENS" value="4.27632896683" integer="16"/>
-->
<!-- For the magentometer currently in use -->
<!--
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-->
<!-- if using the other ST magnetometer on the main board -->
<!--
@@ -724,11 +713,6 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Y_SENS" value="3.77984806639" integer="16"/>
<define name="MAG_Z_SENS" value="4.27632896683" integer="16"/>-->
<!-- for the magentometer currently in use -->
<!--
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>-->
<!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!-- TODO: at least 3 axis in worst case -->
conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml
-4
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@@ -294,10 +294,6 @@
<!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!-- TODO: at least 3 axis in worst case -->
<!-- TODO: WITH battery in aircraft body at final spot! -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<define name="BODY_TO_IMU_PHI" value="0.0" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0.0" unit="deg"/>
conf/airframes/OPENUAS/openuas_itsybitsy.xml
-4
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@@ -86,10 +86,6 @@
<define name="MAG_Y_SENS" value="4.00524696232" integer="16"/>
<define name="MAG_Z_SENS" value="4.09474740848" integer="16"/>
<!-- MAGNETO CURRENT CALIBRATION -->
<define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
<define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
</section>
<section name="AUTOPILOT">
conf/airframes/OPENUAS/openuas_multiplex_minimag.xml
+1 -15
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@@ -720,11 +720,6 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Y_SENS" value="3.6213651898" integer="16"/>
<define name="MAG_Z_SENS" value="4.01635370187" integer="16"/>
<!-- Current compensation for the magentometer currently IN USE -->
<!-- Calib on 20200414 -->
<define name="MAG_X_CURRENT_COEF" value="-0.677655963532"/>
<define name="MAG_Y_CURRENT_COEF" value="-7.38678178538"/>
<define name="MAG_Z_CURRENT_COEF" value="-5.02116042576"/>
<!-- if using the internal magnetometer and set IMU_MPU9250_READ_MAG" to TRUE"/>-->
<!--
@@ -737,11 +732,7 @@ The most crucial part for the magnetometer calibration:
-->
<!-- For the magentometer currently in use -->
<!--
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-->
<!-- if using the other ST magnetometer on the main board -->
<!--
@@ -752,11 +743,6 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Y_SENS" value="3.77984806639" integer="16"/>
<define name="MAG_Z_SENS" value="4.27632896683" integer="16"/>-->
<!-- for the magentometer currently in use -->
<!--
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>-->
<!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!-- TODO: at least 3 axis in worst case -->
conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml
+1 -3
View File
@@ -540,9 +540,7 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
<!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!-- TODO: at least 3 axis in worst case -->
<define name="MAG_X_CURRENT_COEF" value="0.000321738038902"/>
<define name="MAG_Y_CURRENT_COEF" value="-0.000820010304048"/>
<define name="MAG_Z_CURRENT_COEF" value="0.00139218924958"/>
<define name="BODY_TO_IMU_PHI" value="0.0" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0.0" unit="deg"/><!-- TODO: validate -->
conf/airframes/OPENUAS/openuas_own_flexo.xml
-16
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@@ -646,11 +646,6 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Y_SENS" value="3.6213651898" integer="16"/>
<define name="MAG_Z_SENS" value="4.01635370187" integer="16"/>
<!-- Current compensation for the magentometer currently IN USE -->
<!-- Calib on 20200414 -->
<define name= "MAG_X_CURRENT_COEF" value="-0.677655963532"/>
<define name= "MAG_Y_CURRENT_COEF" value="-7.38678178538"/>
<define name= "MAG_Z_CURRENT_COEF" value="-5.02116042576"/>
<!-- if using the internal magnetometer and set IMU_MPU9250_READ_MAG" to TRUE"/>-->
<!--
@@ -662,12 +657,6 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Z_SENS" value="4.27632896683" integer="16"/>
-->
<!-- For the magentometer currently in use -->
<!--
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-->
<!-- if using the other ST magnetometer on the main board -->
<!--
@@ -678,11 +667,6 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Y_SENS" value="3.77984806639" integer="16"/>
<define name="MAG_Z_SENS" value="4.27632896683" integer="16"/>-->
<!-- for the magentometer currently in use -->
<!--
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>-->
<!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!-- TODO: at least 3 axis in worst case -->
conf/airframes/OPENUAS/openuas_own_itsy_bitsy.xml
-4
View File
@@ -134,10 +134,6 @@
<define name="MAG_Y_SENS" value="4.00524696232" integer="16"/>
<define name="MAG_Z_SENS" value="4.09474740848" integer="16"/>
<!-- MAGNETO CURRENT CALIBRATION -->
<define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
<define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
</section>
<section name="AUTOPILOT">
conf/airframes/OPENUAS/openuas_own_mavtec.xml
-4
View File
@@ -109,10 +109,6 @@
<define name="MAG_Y_SENS" value="3.74966778358" integer="16"/>
<define name="MAG_Z_SENS" value="4.05311539389" integer="16"/>
<define name= "MAG_X_CURRENT_COEF" value="0.00322676138551"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.00266367218758"/>
<define name= "MAG_Z_CURRENT_COEF" value="-0.0004557295634"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="270." unit="deg"/>
conf/airframes/OPENUAS/openuas_own_sumo_ii.xml
+1 -17
View File
@@ -648,11 +648,6 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Y_SENS" value="3.6213651898" integer="16"/>
<define name="MAG_Z_SENS" value="4.01635370187" integer="16"/>
<!-- Current compensation for the magentometer currently IN USE -->
<!-- Calib on 20200414 -->
<define name= "MAG_X_CURRENT_COEF" value="-0.677655963532"/>
<define name= "MAG_Y_CURRENT_COEF" value="-7.38678178538"/>
<define name= "MAG_Z_CURRENT_COEF" value="-5.02116042576"/>
<!-- if using the internal magnetometer and set IMU_MPU9250_READ_MAG" to TRUE"/>-->
<!--
@@ -664,12 +659,7 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Z_SENS" value="4.27632896683" integer="16"/>
-->
<!-- For the magentometer currently in use -->
<!--
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-->
<!-- if using the other ST magnetometer on the main board -->
<!--
@@ -680,12 +670,6 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Y_SENS" value="3.77984806639" integer="16"/>
<define name="MAG_Z_SENS" value="4.27632896683" integer="16"/>-->
<!-- for the magentometer currently in use -->
<!--
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>-->
<!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!-- TODO: at least 3 axis in worst case -->
</section>
conf/airframes/OPENUAS/openuas_parrot_ardrone_2.xml
-5
View File
@@ -314,11 +314,6 @@ The most crucial part for the magnetometer calibration:
<!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!-- TODO: at least 3 axis in worst case -->
<!-- Magneto current calibration TODO:
Best done outside, set it to RC direct and throttle up and down with raw messages -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<!-- most likly OK with an physically unmodified airframe -->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
conf/airframes/OPENUAS/openuas_parrot_bebop.xml
-5
View File
@@ -339,11 +339,6 @@ The most crucial part for the magnetometer calibration:
<!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!-- TODO: at least 3 axis in worst case -->
<!-- Magneto current calibration TODO:
Best done outside, set it to RC direct and throttle up and down with raw messages -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<!-- most likly OK with an physically unmodified airframe -->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
conf/airframes/OPENUAS/openuas_parrot_bebop_2.xml
-5
View File
@@ -352,11 +352,6 @@ The most crucial part for the magnetometer calibration:
<!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!-- TODO: at least 3 axis in worst case -->
<!-- Magneto current calibration TODO:
Best done outside, set it to RC direct and throttle up and down with raw messages -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<!-- most likly OK with an physically unmodified airframe -->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
conf/airframes/OPENUAS/openuas_parrot_disco.xml
-5
View File
@@ -592,11 +592,6 @@ The most crucial part for the magnetometer calibration:
<define name="MAG_Y_SENS" value="9.08947221668" integer="16"/>
<define name="MAG_Z_SENS" value="9.38604192016" integer="16"/>
<!-- Should be same for everyone -->
<define name="MAG_X_CURRENT_COEF" value="0.000321738038902"/>
<define name="MAG_Y_CURRENT_COEF" value="-0.000820010304048"/>
<define name="MAG_Z_CURRENT_COEF" value="0.00139218924958"/>
<define name="BODY_TO_IMU_PHI" value="0.0" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0.0" unit="deg"/><!-- TODO: validate -->
<define name="BODY_TO_IMU_PSI" value="0.0" unit="deg"/>
conf/airframes/OPENUAS/openuas_wltech_xk_a160.xml
-5
View File
@@ -406,11 +406,6 @@ NOTES:
<define name="MAG_Y_SENS" value="3.6213651898" integer="16"/>
<define name="MAG_Z_SENS" value="4.01635370187" integer="16"/>
<!-- TODO: Calibrate -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
</section>
<section name="AHRS" prefix="AHRS_">
conf/airframes/examples/ardrone2.xml
-5
View File
@@ -84,11 +84,6 @@
<define name="MAG_Y_SENS" value="16." integer="16"/>
<define name="MAG_Z_SENS" value="16." integer="16"/>
<!-- Magneto current calibration -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/examples/ardrone2_gazebo.xml
-5
View File
@@ -96,11 +96,6 @@
<define name="MAG_Y_SENS" value="16." integer="16"/>
<define name="MAG_Z_SENS" value="16." integer="16"/>
<!-- Magneto current calibration -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/examples/ardrone2_opticflow_hover.xml
-5
View File
@@ -99,11 +99,6 @@
<define name="MAG_Y_SENS" value="16." integer="16"/>
<define name="MAG_Z_SENS" value="16." integer="16"/>
<!-- Magneto current calibration -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/examples/bebop.xml
-5
View File
@@ -91,11 +91,6 @@
<define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
<define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>
<!-- Magneto current calibration -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/examples/ladybird_lisa_s.xml
-4
View File
@@ -84,10 +84,6 @@
<define name="MAG_Y_SENS" value="4.14629702271" integer="16"/>
<define name="MAG_Z_SENS" value="4.54518768636" integer="16"/>
<!-- MAGNETO CURRENT CALIBRATION -->
<define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
<define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
</section>
<section name="AUTOPILOT">
conf/airframes/examples/ladybird_lisa_s_bluegiga.xml
-5
View File
@@ -83,11 +83,6 @@
<define name="MAG_X_SENS" value="3.94431833863" integer="16"/>
<define name="MAG_Y_SENS" value="4.14629702271" integer="16"/>
<define name="MAG_Z_SENS" value="4.54518768636" integer="16"/>
<!-- MAGNETO CURRENT CALIBRATION -->
<define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
<define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
</section>
<section name="AUTOPILOT">
conf/airframes/examples/matek_h7_rotorcraft_hitl.xml
-4
View File
@@ -105,10 +105,6 @@
<define name="MAG_Y_SENS" value="15.9334896814" integer="16"/>
<define name="MAG_Z_SENS" value="15.9429325263" integer="16"/>
<!--define name= "MAG_X_CURRENT_COEF" value="0.0350248861409"/>
<define name= "MAG_Y_CURRENT_COEF" value="-0.0118884242797"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.0176235525201"/-->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/examples/quadrotor_lisa_s.xml
-4
View File
@@ -83,10 +83,6 @@
<define name="MAG_Y_SENS" value="4.14629702271" integer="16"/>
<define name="MAG_Z_SENS" value="4.54518768636" integer="16"/>
<!-- MAGNETO CURRENT CALIBRATION -->
<define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
<define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
</section>
<section name="AUTOPILOT">
conf/airframes/test_boards/kakute_f7.xml
-4
View File
@@ -99,10 +99,6 @@
<define name="MAG_Y_SENS" value="15.9334896814" integer="16"/>
<define name="MAG_Z_SENS" value="15.9429325263" integer="16"/>
<!--define name= "MAG_X_CURRENT_COEF" value="0.0350248861409"/>
<define name= "MAG_Y_CURRENT_COEF" value="-0.0118884242797"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.0176235525201"/-->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/test_boards/matek_h743_slim.xml
-4
View File
@@ -102,10 +102,6 @@
<define name="MAG_Y_SENS" value="15.9334896814" integer="16"/>
<define name="MAG_Z_SENS" value="15.9429325263" integer="16"/>
<!--define name= "MAG_X_CURRENT_COEF" value="0.0350248861409"/>
<define name= "MAG_Y_CURRENT_COEF" value="-0.0118884242797"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.0176235525201"/-->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/tudelft/ardrone2_indi.xml
-5
View File
@@ -81,11 +81,6 @@
<define name="MAG_Y_SENS" value="16." integer="16"/>
<define name="MAG_Z_SENS" value="16." integer="16"/>
<!-- Magneto current calibration -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/tudelft/ardrone2_opticflow.xml
-5
View File
@@ -104,11 +104,6 @@
<define name="MAG_Y_SENS" value="16." integer="16"/>
<define name="MAG_Z_SENS" value="16." integer="16"/>
<!-- Magneto current calibration -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
conf/airframes/tudelft/calibrations/bebop2_22.xml
-4
View File
@@ -10,9 +10,5 @@
<define name="MAG_Y_SENS" value="7.33022132691" integer="16"/>
<define name="MAG_Z_SENS" value="7.57102035692" integer="16"/>
<!-- Magneto current calibration -->
<!--define name= "MAG_X_CURRENT_COEF" value="0.00129333644507"/>
<define name= "MAG_Y_CURRENT_COEF" value="-0.00180224741034"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.00514030157101"/-->
</section>
</airframe>

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