[paparazzi-commits] [4405] Initial Calibration

[Anton K.]

Revision: 4405
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4405
Author:   antonk
Date:     2009-12-27 05:04:31 +0000 (Sun, 27 Dec 2009)
Log Message:
-----------
Initial Calibration

Added Paths:
-----------
    
paparazzi3/trunk/conf/airframes/PPZUAV/imu-calibrations/ppzuav_booz2imu_003.xml

Added: 
paparazzi3/trunk/conf/airframes/PPZUAV/imu-calibrations/ppzuav_booz2imu_003.xml
===================================================================
--- 
paparazzi3/trunk/conf/airframes/PPZUAV/imu-calibrations/ppzuav_booz2imu_003.xml 
                            (rev 0)
+++ 
paparazzi3/trunk/conf/airframes/PPZUAV/imu-calibrations/ppzuav_booz2imu_003.xml 
    2009-12-27 05:04:31 UTC (rev 4405)
@@ -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="31675"/>
+    <define name="GYRO_Q_NEUTRAL" value="31650"/>
+    <define name="GYRO_R_NEUTRAL" value="31475"/>
+
+    <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="-2.57091959" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="-2.55833628" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="-2.57095664" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="32875"/>
+    <define name="ACCEL_Y_NEUTRAL" value="32516"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32398"/>
+
+    <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="5.66180118" integer="16"/>
+    <define name="MAG_Y_SENS" value="-5.64457472" integer="16"/>
+    <define name="MAG_Z_SENS" value="-3.40880798" integer="16"/>
+
+    <define name="MAG_X_NEUTRAL" value="-2"/>
+    <define name="MAG_Y_NEUTRAL" value="21"/>
+    <define name="MAG_Z_NEUTRAL" value="37"/>
+
+    <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>
\ No newline at end of file