[Paparazzi-devel] Reply to:"Re: Warning possible bug in "ins_arduimu.c" (Steve Joyce)

[Chris]

Hi Steve you mean that the calibration depends on the size of the wheels 
fitted on a particular airplane or in other words to the attitude the 
plane has during initialization?
The way you describe is the same i implemented for further testing 
(initializing the variable inside the "ins_arduimu.c" using the 
"RadOfDeg() function.

Just to supplement my thoughts i think that there is no error in 
arduimu.c file it is just that the units are get mixed from the 
definitions inside the airframe file:

<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="3" unit="deg"/>
</section>

It should probably read:
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="radians"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="radians"/>
</section>

or perform the conversion in the initialization of the arduimu code like 
you said.

Also the settings file should change the pitch and roll neutrals in 
degrees like this:
<dl_settings NAME="ins">
<dl_setting MAX="10." MIN="-10." STEP="0.1" VAR="ins_roll_neutral" 
shortname="roll_neutral" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" 
alt_unit="deg"/>
<dl_setting MAX="10." MIN="-10." STEP="0.1" VAR="ins_pitch_neutral" 
shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" 
alt_unit="deg"/>
</dl_settings>

Chris