[paparazzi-commits] [5103] added support for a crista IMU

[antoine drouin]

Revision: 5103
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5103
Author:   poine
Date:     2010-07-21 22:06:12 +0000 (Wed, 21 Jul 2010)
Log Message:
-----------
added support for a crista IMU

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/Poine/booz2_a8.xml

Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a8.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a8.xml  2010-07-21 22:03:05 UTC 
(rev 5102)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a8.xml  2010-07-21 22:06:12 UTC 
(rev 5103)
@@ -1,4 +1,4 @@
-<!-- this is the biplan equiped with  Lisa/L#XXX and asctec V2 controllers -->
+<!-- this is the biplan equiped with  Lisa/L#XXX, crista IMU and asctec V2 
controllers -->
 
 <airframe name="booz2_a7">
 
@@ -31,37 +31,60 @@
     <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
   </section>
 
+  <!-- this is my crista -->
   <section name="IMU" prefix="IMU_">
 
-    <define name="GYRO_P_NEUTRAL" value="31948"/>
-    <define name="GYRO_Q_NEUTRAL" value="31834"/>
-    <define name="GYRO_R_NEUTRAL" value="32687"/>
+    <define name="GYRO_P_SIGN" value="-1"/>
+    <define name="GYRO_Q_SIGN" value="-1"/>
+    <define name="GYRO_R_SIGN" value=" 1"/>
 
-    <define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
-    <define name="GYRO_Q_SENS" value="-1.122670898" integer="16"/>
-    <define name="GYRO_R_SENS" value="-1.104890137" integer="16"/>
+    <define name="GYRO_P_NEUTRAL" value="31288"/>
+    <define name="GYRO_Q_NEUTRAL" value="32593"/>
+    <define name="GYRO_R_NEUTRAL" value="32709"/>
 
+    <define name="GYRO_P_SENS" value=" 0.943560" integer="16"/>
+    <define name="GYRO_Q_SENS" value=" 0.926199" integer="16"/>
+    <define name="GYRO_R_SENS" value=" 0.931912" integer="16"/>
 
-    <define name="ACCEL_X_SENS" value="-2.58273701242" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="-2.54076215332" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="-2.57633620646" integer="16"/>
 
+    <define name="ACCEL_X_SIGN" value="1"/>
+    <define name="ACCEL_Y_SIGN" value="1"/>
+    <define name="ACCEL_Z_SIGN" value="1"/>
+
     <define name="ACCEL_X_NEUTRAL" value="32857"/>
     <define name="ACCEL_Y_NEUTRAL" value="32429"/>
     <define name="ACCEL_Z_NEUTRAL" value="32593"/>
 
-    <define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
-    <define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
-    <define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
+    <define name="ACCEL_X_SENS" value="-2.58273701242" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="-2.54076215332" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="-2.57633620646" integer="16"/>
 
+
+    <define name="MAG_X_SIGN" value="-43"/>
+    <define name="MAG_Y_SIGN" value=" 49"/>
+    <define name="MAG_Z_SIGN" value="-66"/>
+
     <define name="MAG_X_NEUTRAL" value="-43"/>
     <define name="MAG_Y_NEUTRAL" value=" 49"/>
     <define name="MAG_Z_NEUTRAL" value="-66"/>
 
+    <define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
+    <define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
+    <define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
+
+
     <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(  0.)"/>
     <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  0.)"/>
     <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  45.)"/>
 
+<!--  3  -->
+    <define name="GYRO_P_CHAN" value="0"/>
+    <define name="GYRO_Q_CHAN" value="4"/>
+    <define name="GYRO_R_CHAN" value="1"/>
+    <define name="ACCEL_X_CHAN" value="5"/>
+    <define name="ACCEL_Y_CHAN" value="2"/>
+    <define name="ACCEL_Z_CHAN" value="6"/>
+
   </section>
 
  <section name="BAT">