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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/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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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_">