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bebop2 calibration

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This commit is contained in:
Ewoud Smeur
2015-11-20 11:56:44 +01:00
parent 0105eb9728
commit aa31e2c11e
4 changed files with 54 additions and 2 deletions
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conf/airframes/TUDelft/airframes/bebop2_indi.xml
+2 -1
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@@ -23,6 +23,7 @@
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</subsystem>
<subsystem name="ins" type="extended"/>
<subsystem name="guidance" type="indi"/>
</firmware>
<modules main_freq="512">
@@ -71,7 +72,7 @@
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>
<include href="conf/airframes/TUDelft/calibrations/bebop7.xml" />
<include href="conf/airframes/TUDelft/calibrations/bebop2_$AC_ID.xml" />
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
conf/airframes/TUDelft/calibrations/bebop2_22.xml
+20
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@@ -0,0 +1,20 @@
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<airframe>
<section name="IMU" prefix="IMU_">
<!-- Magneto calibration -->
<define name="MAG_X_NEUTRAL" value="-21"/>
<define name="MAG_Y_NEUTRAL" value="60"/>
<define name="MAG_Z_NEUTRAL" value="209"/>
<define name="MAG_X_SENS" value="9.31429497222" integer="16"/>
<define name="MAG_Y_SENS" value="8.63466075593" integer="16"/>
<define name="MAG_Z_SENS" value="9.57742148079" 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>
conf/airframes/TUDelft/calibrations/bebop2_23.xml
+20
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@@ -0,0 +1,20 @@
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<airframe>
<section name="IMU" prefix="IMU_">
<!-- Magneto calibration -->
<define name="MAG_X_NEUTRAL" value="84"/>
<define name="MAG_Y_NEUTRAL" value="162"/>
<define name="MAG_Z_NEUTRAL" value="288"/>
<define name="MAG_X_SENS" value="10.1024207193" integer="16"/>
<define name="MAG_Y_SENS" value="10.173893411" integer="16"/>
<define name="MAG_Z_SENS" value="10.4050606351" integer="16"/>
<!-- Magneto current calibration -->
<define name= "MAG_X_CURRENT_COEF" value="-0.00114859141193"/>
<define name= "MAG_Y_CURRENT_COEF" value="-0.00265185035686"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.00405825081846"/>
</section>
</airframe>
conf/airframes/TUDelft/conf.xml
+12 -1
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@@ -154,7 +154,7 @@
gui_color="blue"
/>
<aircraft
name="bebop2"
name="bebop2_22"
ac_id="22"
airframe="airframes/TUDelft/airframes/bebop2_indi.xml"
radio="radios/dummy.xml"
@@ -164,6 +164,17 @@
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
gui_color="#ffff0689b7a1"
/>
<aircraft
name="bebop2_23"
ac_id="23"
airframe="airframes/TUDelft/airframes/bebop2_indi.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_att_indi.xml [settings/control/stabilization_att_int_quat.xml]"
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
gui_color="#ffff0689b7a1"
/>
<aircraft
name="bebop_flip"
ac_id="3"