Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-04 22:17:01 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

[ardrone2] Magneto axis correction and calibration

Browse Source
This commit is contained in:
fvantienen
2013-08-26 14:24:42 +02:00
parent 3bf713a831
commit b895ded49c
4 changed files with 65 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/ardrone2_raw.xml
+17 -18
View File
@@ -22,18 +22,16 @@
<subsystem name="actuators" type="ardrone2" />
<subsystem name="imu" type="ardrone2" />
<subsystem name="gps" type="sirf" />
<subsystem name="gps" type="ublox" />
<subsystem name="stabilization" type="int_quat" />
<subsystem name="ahrs" type="int_cmpl_quat" />
<subsystem name="ins" />
</firmware>
<!--
<modules main_freq="512" >
<load name="gps_ubx_ucenter.xml" />
</modules>
-->
<commands>
<axis name="PITCH" failsafe_value="0" />
@@ -71,16 +69,16 @@
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="2072" />
<define name="ACCEL_Y_NEUTRAL" value="2040" />
<define name="ACCEL_Z_NEUTRAL" value="2047" />
<define name="ACCEL_X_NEUTRAL" value="2056" />
<define name="ACCEL_Y_NEUTRAL" value="2060" />
<define name="ACCEL_Z_NEUTRAL" value="2052" />
<define name="ACCEL_X_SENS" value="19.1079036954" integer="16" />
<define name="ACCEL_Y_SENS" value="19.5393623518" integer="16" />
<define name="ACCEL_Z_SENS" value="19.6539180847" integer="16" />
<define name="ACCEL_X_SIGN" value="1" />
<define name="ACCEL_Y_SIGN" value="-1" />
<define name="ACCEL_Z_SIGN" value="-1" />
<define name="ACCEL_Y_SIGN" value="1" />
<define name="ACCEL_Z_SIGN" value="1" />
<define name="GYRO_P_SENS_NUM" value="4359" />
<define name="GYRO_P_SENS_DEN" value="1000" />
@@ -90,19 +88,19 @@
<define name="GYRO_R_SENS_DEN" value="1000" />
<define name="GYRO_P_SIGN" value="1" />
<define name="GYRO_Q_SIGN" value="-1" />
<define name="GYRO_R_SIGN" value="-1" />
<define name="GYRO_Q_SIGN" value="1" />
<define name="GYRO_R_SIGN" value="1" />
<define name="MAG_X_NEUTRAL" value="118" />
<define name="MAG_Y_NEUTRAL" value="-65" />
<define name="MAG_Z_NEUTRAL" value="110" />
<define name="MAG_X_SENS" value="14.6416865144" integer="16" />
<define name="MAG_Y_SENS" value="14.5167340835" integer="16" />
<define name="MAG_Z_SENS" value="15.1670335124" integer="16" />
<define name="MAG_X_NEUTRAL" value="-9"/>
<define name="MAG_Y_NEUTRAL" value="1"/>
<define name="MAG_Z_NEUTRAL" value="97"/>
<define name="MAG_X_SENS" value="15.5831909917" integer="16"/>
<define name="MAG_Y_SENS" value="15.518618593" integer="16"/>
<define name="MAG_Z_SENS" value="16.1875786042" integer="16"/>
<define name="MAG_X_SIGN" value="-1" />
<define name="MAG_X_SIGN" value="1" />
<define name="MAG_Y_SIGN" value="1" />
<define name="MAG_Z_SIGN" value="-1" />
<define name="MAG_Z_SIGN" value="1" />
<!-- roll -->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg" />
@@ -232,6 +230,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="7500"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V" />
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V" />
<define name="LOW_BAT_LEVEL" value="9.7" unit="V" />