[paparazzi-commits] [4989] airframe: mag calibration update

[Felix Ruess]

Revision: 4989
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4989
Author:   flixr
Date:     2010-06-20 18:04:48 +0000 (Sun, 20 Jun 2010)
Log Message:
-----------
airframe: mag calibration update

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/booz2_flixr.xml

Modified: paparazzi3/trunk/conf/airframes/booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2010-06-20 18:04:42 UTC 
(rev 4988)
+++ paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2010-06-20 18:04:48 UTC 
(rev 4989)
@@ -68,14 +68,27 @@
          <define name="MAG_Y_CHAN" value="0" />
          <define name="MAG_Z_CHAN" value="2" />
 
+<!--
          <define name="MAG_X_SENS" value="-3.3915023" integer="16" />
          <define name="MAG_Y_SENS" value="3.3855561" integer="16" />
          <define name="MAG_Z_SENS" value="-4.50143271" integer="16" />
+-->
          <define name="MAG_45_HACK" value="1" />
+      <!--define name="MAG_X_SENS" value="-5.14821844457 * sqrt(2)/2" 
integer="16"/-->
+      <!--define name="MAG_Y_SENS" value="5.11810156597 * sqrt(2)/2" 
integer="16"/-->
+      <define name="MAG_X_SENS" value="-3.640340173" integer="16"/>
+      <define name="MAG_Y_SENS" value="3.619044324" integer="16"/>
+      <define name="MAG_Z_SENS" value="-5.07618333556" integer="16"/>
 
+
+      <define name="MAG_X_NEUTRAL" value="2059"/>
+      <define name="MAG_Y_NEUTRAL" value="1944"/>
+      <define name="MAG_Z_NEUTRAL" value="2099"/>
+<!--
          <define name="MAG_X_NEUTRAL" value="2054" />
          <define name="MAG_Y_NEUTRAL" value="1963" />
          <define name="MAG_Z_NEUTRAL" value="2078" />
+-->
 
          <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)" />
          <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)" />
@@ -85,27 +98,27 @@
 
        <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
       <!-- setpoints -->
-               <define name="SP_MAX_P" value="10000" />
-               <define name="SP_MAX_Q" value="10000" />
-               <define name="SP_MAX_R" value="10000" />
-        <define name="DEADBAND_P" value="0" />
-        <define name="DEADBAND_Q" value="0" />
-        <define name="DEADBAND_R" value="200" />
-        <define name="REF_TAU" value="4" />
+         <define name="SP_MAX_P" value="10000" />
+         <define name="SP_MAX_Q" value="10000" />
+         <define name="SP_MAX_R" value="10000" />
+      <define name="DEADBAND_P" value="0" />
+      <define name="DEADBAND_Q" value="0" />
+      <define name="DEADBAND_R" value="200" />
+      <define name="REF_TAU" value="4" />
 
-        <!-- feedback -->
-               <define name="GAIN_P" value="-400" />
-               <define name="GAIN_Q" value="-400" />
-               <define name="GAIN_R" value="-350" />
+      <!-- feedback -->
+         <define name="GAIN_P" value="-400" />
+         <define name="GAIN_Q" value="-400" />
+         <define name="GAIN_R" value="-350" />
 
-        <define name="IGAIN_P" value="-75" />
-        <define name="IGAIN_Q" value="-75" />
-        <define name="IGAIN_R" value="-50" />
+      <define name="IGAIN_P" value="-75" />
+      <define name="IGAIN_Q" value="-75" />
+      <define name="IGAIN_R" value="-50" />
 
-        <!-- feedforward -->
-        <define name="DDGAIN_P" value="300" />
-        <define name="DDGAIN_Q" value="300" />
-        <define name="DDGAIN_R" value="300" />
+      <!-- feedforward -->
+      <define name="DDGAIN_P" value="300" />
+      <define name="DDGAIN_Q" value="300" />
+      <define name="DDGAIN_R" value="300" />
        </section>