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[airframes] Updated calibrations of rotating wing drones

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This commit is contained in:
Dennis van Wijngaarden
2024-02-27 08:34:36 +01:00
committed by Freek van Tienen
parent f44444c918
commit edff4bc3b9
4 changed files with 8 additions and 8 deletions
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conf/airframes/tudelft/rot_wing_v3d.xml
+2 -2
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@@ -192,7 +192,7 @@
<servo no="2" name="MOTOR_BACK" min="0" neutral="1000" max="8191"/>
<servo no="3" name="MOTOR_LEFT" min="0" neutral="1000" max="8191"/>
<servo no="4" name="MOTOR_PUSH" min="0" neutral="0" max="8191"/>
<servo no="5" name="ROTATION_MECH" min="-2842" neutral="1053" max="4947"/>
<servo no="5" name="ROTATION_MECH" min="-2375" neutral="-172" max="2031"/>
</servos>
<!-- CAN BUS 1 command outputs-->
@@ -207,7 +207,7 @@
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="8191"/>
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="8191"/>
<servo no="5" name="BROTATION_MECH" min="-2842" neutral="1053" max="4947"/>
<servo no="5" name="BROTATION_MECH" min="-2375" neutral="-172" max="2031"/>
</servos>
<!-- CAN BUS 2 command outputs-->
conf/airframes/tudelft/rot_wing_v3e.xml
+1 -1
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@@ -197,7 +197,7 @@
<!-- CAN BUS 1 command outputs-->
<servos driver="Uavcan1Cmd">
<servo no="6" name="SERVO_ELEVATOR" min="8191" neutral="8191" max="-4349"/>
<servo no="6" name="SERVO_ELEVATOR" min="5400" neutral="5400" max="-4349"/>
<servo no="7" name="SERVO_RUDDER" min="-5225" neutral="0" max="5225"/>
</servos>
conf/airframes/tudelft/rot_wing_v3g.xml
+2 -2
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@@ -68,7 +68,7 @@
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c2"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.9077609"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.65"/>
<define name="USE_AIRSPEED_LOWPASS_FILTER" value="TRUE"/>
<define name="MS45XX_LOWPASS_TAU" value="0.15"/>
<define name="AIRSPEED_MS45XX_SEND_ABI" value="1"/>
@@ -343,7 +343,7 @@
<section name="IMU" prefix="IMU_">
<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={-19,0,28}, .scale={{1537,43219,6232},{157,4410,641}}, .filter_sample_freq=1127, .filter_freq=30}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={-1,2,33}, .scale={{21914,8531,5489},{4477,1738,1120}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-47,0,3}, .scale={{17288,29444,25808},{3531,6031,5293}}}}"/>
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={-1,-2,22}, .scale={{8241,27895,4777},{15881,55537,10618}}, .body_to_sensor={{0,16384,0,16384,0,0,0,0,-16384}}}}"/>
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={3163,2783,1623}, .scale={{25833,28413,12237},{45868,51206,22472}}, .body_to_sensor={{0,16384,0,16384,0,0,0,0,-16384}}}}"/>
<define name="GYRO_CALIB" value="{{.abi_id=20, .calibrated={.filter=true}, .filter_sample_freq=1127, .filter_freq=30}}"/>
<!-- Define axis in hover frame -->
conf/airframes/tudelft/rot_wing_v3h.xml
+3 -3
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@@ -68,7 +68,7 @@
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c2"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.9077609"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.65"/>
<define name="USE_AIRSPEED_LOWPASS_FILTER" value="TRUE"/>
<define name="MS45XX_LOWPASS_TAU" value="0.15"/>
<define name="AIRSPEED_MS45XX_SEND_ABI" value="1"/>
@@ -197,7 +197,7 @@
<!-- CAN BUS 1 command outputs-->
<servos driver="Uavcan1Cmd">
<servo no="6" name="SERVO_ELEVATOR" min="8191" neutral="8191" max="-6102"/>
<servo no="6" name="SERVO_ELEVATOR" min="1200" neutral="1200" max="-8191"/>
<servo no="7" name="SERVO_RUDDER" min="-5225" neutral="0" max="5225"/>
</servos>
@@ -343,7 +343,7 @@
<section name="IMU" prefix="IMU_">
<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={-19,0,11}, .scale={{36573,4111,12385},{3737,420,1269}}, .filter_sample_freq=1130, .filter_freq=30}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={-1,-5,24}, .scale={{21205,53606,11977},{4326,10919,2440}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-63,-14,21}, .scale={{32790,18121,37501},{6697,3698,7659}}}}"/>
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={-1,-2,22}, .scale={{8241,27895,4777},{15881,55537,10618}}, .body_to_sensor={{0,16384,0,16384,0,0,0,0,-16384}}}}"/>
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={2658,2634,1176}, .scale={{20085,2361,16413},{34633,4348,28912}}, .body_to_sensor={{0,16384,0,16384,0,0,0,0,-16384}}}}"/>
<define name="GYRO_CALIB" value="{{.abi_id=20, .calibrated={.filter=true}, .filter_sample_freq=1130, .filter_freq=30}}"/>
<!-- Define axis in hover frame -->