[paparazzi-commits] [4094] flixr airframe update

[Felix Ruess]

Revision: 4094
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4094
Author:   flixr
Date:     2009-09-08 08:13:33 +0000 (Tue, 08 Sep 2009)
Log Message:
-----------
flixr airframe update

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/booz2_flixr.xml

Modified: paparazzi3/trunk/conf/airframes/booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2009-09-08 07:31:38 UTC 
(rev 4093)
+++ paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2009-09-08 08:13:33 UTC 
(rev 4094)
@@ -32,46 +32,46 @@
        </section>
 
        <section name="IMU" prefix="IMU_">
-               <define name="GYRO_P_CHAN" value="1" />
-               <define name="GYRO_Q_CHAN" value="0" />
-               <define name="GYRO_R_CHAN" value="2" />
+         <define name="GYRO_P_CHAN" value="1" />
+         <define name="GYRO_Q_CHAN" value="0" />
+         <define name="GYRO_R_CHAN" value="2" />
 
-               <define name="GYRO_P_NEUTRAL" value="32372" />
-               <define name="GYRO_Q_NEUTRAL" value="32080" />
-               <define name="GYRO_R_NEUTRAL" value="31978" />
+         <define name="GYRO_P_NEUTRAL" value="32362" />
+         <define name="GYRO_Q_NEUTRAL" value="32080" />
+         <define name="GYRO_R_NEUTRAL" value="32096" />
 
-               <define name="GYRO_P_SENS" value=" 1.1032765" integer="16" />
-               <define name="GYRO_Q_SENS" value="-1.1360802599" integer="16" />
-               <define name="GYRO_R_SENS" value="-1.1249874614" integer="16" />
+         <define name="GYRO_P_SENS" value=" 1.1032765" integer="16" />
+         <define name="GYRO_Q_SENS" value="-1.1360802599" integer="16" />
+         <define name="GYRO_R_SENS" value="-1.1249874614" integer="16" />
 
-               <define name="ACCEL_X_CHAN" value="3" />
-               <define name="ACCEL_Y_CHAN" value="5" />
-               <define name="ACCEL_Z_CHAN" value="6" />
+         <define name="ACCEL_X_CHAN" value="3" />
+         <define name="ACCEL_Y_CHAN" value="5" />
+         <define name="ACCEL_Z_CHAN" value="6" />
 
-               <define name="ACCEL_X_SENS" value="-2.46029007" integer="16" />
-               <define name="ACCEL_Y_SENS" value="-2.45046527" integer="16" />
-               <define name="ACCEL_Z_SENS" value="-2.48071774" integer="16" />
+      <define name="ACCEL_X_SENS" value="-2.45932966" integer="16"/>
+      <define name="ACCEL_Y_SENS" value="-2.45106376" integer="16"/>
+      <define name="ACCEL_Z_SENS" value="-2.47825717" integer="16"/>
 
-               <define name="ACCEL_X_NEUTRAL" value="31893" />
-               <define name="ACCEL_Y_NEUTRAL" value="32204" />
-               <define name="ACCEL_Z_NEUTRAL" value="33009" />
+      <define name="ACCEL_X_NEUTRAL" value="31886"/>
+      <define name="ACCEL_Y_NEUTRAL" value="32162"/>
+      <define name="ACCEL_Z_NEUTRAL" value="32941"/>
 
-               <define name="MAG_X_CHAN" value="4" />
-               <define name="MAG_Y_CHAN" value="0" />
-               <define name="MAG_Z_CHAN" value="2" />
+         <define name="MAG_X_CHAN" value="4" />
+         <define name="MAG_Y_CHAN" value="0" />
+         <define name="MAG_Z_CHAN" value="2" />
 
-               <define name="MAG_X_SENS" value="-3.3915023" integer="16" />
-               <define name="MAG_Y_SENS" value="3.3855561" integer="16" />
-               <define name="MAG_Z_SENS" value="-4.50143271" integer="16" />
-               <define name="MAG_45_HACK" value="1" />
+         <define name="MAG_X_SENS" value="-3.3915023" integer="16" />
+         <define name="MAG_Y_SENS" value="3.3855561" integer="16" />
+         <define name="MAG_Z_SENS" value="-4.50143271" integer="16" />
+         <define name="MAG_45_HACK" value="1" />
 
-               <define name="MAG_X_NEUTRAL" value="2054" />
-               <define name="MAG_Y_NEUTRAL" value="1963" />
-               <define name="MAG_Z_NEUTRAL" value="2078" />
+         <define name="MAG_X_NEUTRAL" value="2054" />
+         <define name="MAG_Y_NEUTRAL" value="1963" />
+         <define name="MAG_Z_NEUTRAL" value="2078" />
 
-               <define name="BODY_TO_IMU_PHI" 
value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))" />
-               <define name="BODY_TO_IMU_THETA" 
value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))" />
-               <define name="BODY_TO_IMU_PSI" 
value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))" />
+         <define name="BODY_TO_IMU_PHI" 
value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))" />
+         <define name="BODY_TO_IMU_THETA" 
value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))" />
+         <define name="BODY_TO_IMU_PSI" 
value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))" />
        </section>
 
 
@@ -113,15 +113,15 @@
                <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" />
 
                <!-- feedback -->
-               <define name="PHI_PGAIN" value="-400" />
+               <define name="PHI_PGAIN" value="-1000" />
                <define name="PHI_DGAIN" value="-300" />
                <define name="PHI_IGAIN" value="-100" />
 
-               <define name="THETA_PGAIN" value="-400" />
+               <define name="THETA_PGAIN" value="-1000" />
                <define name="THETA_DGAIN" value="-300" />
                <define name="THETA_IGAIN" value="-100" />
 
-               <define name="PSI_PGAIN" value="-380" />
+               <define name="PSI_PGAIN" value="-500" />
                <define name="PSI_DGAIN" value="-320" />
                <define name="PSI_IGAIN" value="-75" />