[paparazzi-commits] [4518] Initial calibration of PPZUAV IMU 004

[Anton K.]

Revision: 4518
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4518
Author:   antonk
Date:     2010-01-31 19:10:17 +0000 (Sun, 31 Jan 2010)
Log Message:
-----------
Initial calibration of PPZUAV IMU 004

Added Paths:
-----------
    
paparazzi3/trunk/conf/airframes/PPZUAV/imu-calibrations/ppzuav_booz2imu_004.xml

Added: 
paparazzi3/trunk/conf/airframes/PPZUAV/imu-calibrations/ppzuav_booz2imu_004.xml
===================================================================
--- 
paparazzi3/trunk/conf/airframes/PPZUAV/imu-calibrations/ppzuav_booz2imu_004.xml 
                            (rev 0)
+++ 
paparazzi3/trunk/conf/airframes/PPZUAV/imu-calibrations/ppzuav_booz2imu_004.xml 
    2010-01-31 19:10:17 UTC (rev 4518)
@@ -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="32220"/>
+    <define name="GYRO_Q_NEUTRAL" value="31620"/>
+    <define name="GYRO_R_NEUTRAL" value="32000"/>
+
+    <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_NEUTRAL" value="32610"/>
+<define name="ACCEL_Y_NEUTRAL" value="32891"/>
+<define name="ACCEL_Z_NEUTRAL" value="32373"/>
+
+<define name="ACCEL_X_SENS" value="-2.5922049353" integer="16"/>
+<define name="ACCEL_Y_SENS" value="-2.55839088796" integer="16"/>
+<define name="ACCEL_Z_SENS" value="-2.56970688984" integer="16"/>
+
+    <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_NEUTRAL" value="-20"/>
+<define name="MAG_Y_NEUTRAL" value="11"/>
+<define name="MAG_Z_NEUTRAL" value="-15"/>
+
+<define name="MAG_X_SENS" value="5.21841333202" integer="16"/>
+<define name="MAG_Y_SENS" value="-5.28784022883" integer="16"/>
+<define name="MAG_Z_SENS" value="-2.92595913244" integer="16"/>
+
+    <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