[paparazzi-commits] [4399] IMU calibration section for PPZUAV_BOOZ2_IMU_001

[Anton K.]

Revision: 4399
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4399
Author:   antonk
Date:     2009-12-27 00:48:38 +0000 (Sun, 27 Dec 2009)
Log Message:
-----------
IMU calibration section for PPZUAV_BOOZ2_IMU_001

Added Paths:
-----------
    
paparazzi3/trunk/conf/airframes/PPZUAV/imu-calibrations/ppzuav_booz2imu_001.xml

Added: 
paparazzi3/trunk/conf/airframes/PPZUAV/imu-calibrations/ppzuav_booz2imu_001.xml
===================================================================
--- 
paparazzi3/trunk/conf/airframes/PPZUAV/imu-calibrations/ppzuav_booz2imu_001.xml 
                            (rev 0)
+++ 
paparazzi3/trunk/conf/airframes/PPZUAV/imu-calibrations/ppzuav_booz2imu_001.xml 
    2009-12-27 00:48:38 UTC (rev 4399)
@@ -0,0 +1,49 @@
+<!--PPZUAV Booz2 IMU Serial Number 001 -->
+
+
+<!--Insert this calibration into airframe.xml-->
+
+  <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_NEUTRAL" value="33008"/>
+    <define name="GYRO_Q_NEUTRAL" value="31899"/>
+    <define name="GYRO_R_NEUTRAL" value="32989"/>
+
+    <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
+    <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
+    <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
+
+
+    <define name="ACCEL_X_CHAN" value="5"/>
+    <define name="ACCEL_Y_CHAN" value="3"/>
+    <define name="ACCEL_Z_CHAN" value="4"/>
+
+    <define name="ACCEL_X_SENS" value="-2.19476868" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="-2.88368188" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="-2.57172803" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="33160"/>
+    <define name="ACCEL_Y_NEUTRAL" value="32523"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32418"/>
+
+    <define name="MAG_X_CHAN" value="0"/>
+    <define name="MAG_Y_CHAN" value="1"/>
+    <define name="MAG_Z_CHAN" value="2"/>
+
+    <define name="MAG_X_SENS" value="4.73914612" integer="16"/>
+    <define name="MAG_Y_SENS" value="-5.34705586" integer="16"/>
+    <define name="MAG_Z_SENS" value="-3.57580805" integer="16"/>
+
+    <define name="MAG_X_NEUTRAL" value="-89"/>
+    <define name="MAG_Y_NEUTRAL" value="20"/>
+    <define name="MAG_Z_NEUTRAL" value="-30"/>
+
+    <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(-90.))"/>
+
+  </section>
\ No newline at end of file