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[conf] calibration files separate
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@bartremes @dewagter
bartremes authored and dewagter committed Sep 5, 2015
1 parent f2a0bd5 commit 89c72bb
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Showing 6 changed files with 66 additions and 73 deletions.
20 changes: 2 additions & 18 deletions conf/airframes/BR/DreamCacher_bart.xml
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Expand Up @@ -67,28 +67,12 @@
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>

<include href="conf/airframes/TUDelft/calibrations/ladybird1.xml" />

<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>

<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>

<!-- MAGNETO CALIBRATION ANTWERP -->
<define name="MAG_X_NEUTRAL" value="-272"/>
<define name="MAG_Y_NEUTRAL" value="-1048"/>
<define name="MAG_Z_NEUTRAL" value="-196"/>
<define name="MAG_X_SENS" value="3.71896242867" integer="16"/>
<define name="MAG_Y_SENS" value="4.08168121098" integer="16"/>
<define name="MAG_Z_SENS" value="3.93086401526" integer="16"/>


<!-- MAGNETO CURRENT CALIBRATION -->
<define name= "MAG_X_CURRENT_COEF" value="-0.0176704713698"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.0174222594634"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.0187570316492"/>
</section>

<section name="AUTOPILOT">
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13 changes: 12 additions & 1 deletion conf/airframes/BR/conf.xml
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Expand Up @@ -50,8 +50,19 @@
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/superbitrf.xml [settings/control/stabilization_att_indi.xml]"
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/superbitrf.xml"
settings_modules="modules/gps_ubx_ucenter.xml"
gui_color="blue"
/>
<aircraft
name="LadyLisaBartINDI"
ac_id="232"
airframe="airframes/BR/ladybird_kit_indi_bart.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/superbitrf.xml settings/control/stabilization_att_indi.xml"
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
gui_color="blue"
/>
</conf>
29 changes: 2 additions & 27 deletions conf/airframes/BR/ladybird_kit_bart.xml
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Expand Up @@ -67,37 +67,12 @@
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>

<include href="conf/airframes/TUDelft/calibrations/ladybird18.xml" />

<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="-13." unit="deg"/>

<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>

<!-- MAGNETO CALIBRATION ANTWERPEN
<define name="MAG_X_NEUTRAL" value="-147"/>
<define name="MAG_Y_NEUTRAL" value="152"/>
<define name="MAG_Z_NEUTRAL" value="-5"/>
<define name="MAG_X_SENS" value="3.56142779007" integer="16"/>
<define name="MAG_Y_SENS" value="3.82223743533" integer="16"/>
<define name="MAG_Z_SENS" value="4.15618897164" integer="16"/> -->

<!-- MAGNETO CALIBRATION DELFT-->
<define name="MAG_X_NEUTRAL" value="10"/>
<define name="MAG_Y_NEUTRAL" value="238"/>
<define name="MAG_Z_NEUTRAL" value="-74"/>
<define name="MAG_X_SENS" value="3.67001348283" integer="16"/>
<define name="MAG_Y_SENS" value="3.98840260231" integer="16"/>
<define name="MAG_Z_SENS" value="4.32568461736" integer="16"/>



<!-- MAGNETO CURRENT CALIBRATION -->
<define name= "MAG_X_CURRENT_COEF" value="-0.0176704713698"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.0174222594634"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.0187570316492"/>
</section>

<section name="AUTOPILOT">
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29 changes: 2 additions & 27 deletions conf/airframes/BR/ladybird_kit_indi_bart.xml
View file
Expand Up @@ -67,37 +67,12 @@
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>

<include href="conf/airframes/TUDelft/calibrations/ladybird18.xml" />

<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="-13." unit="deg"/>

<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>

<!-- MAGNETO CALIBRATION ANTWERPEN
<define name="MAG_X_NEUTRAL" value="-147"/>
<define name="MAG_Y_NEUTRAL" value="152"/>
<define name="MAG_Z_NEUTRAL" value="-5"/>
<define name="MAG_X_SENS" value="3.56142779007" integer="16"/>
<define name="MAG_Y_SENS" value="3.82223743533" integer="16"/>
<define name="MAG_Z_SENS" value="4.15618897164" integer="16"/> -->

<!-- MAGNETO CALIBRATION DELFT-->
<define name="MAG_X_NEUTRAL" value="10"/>
<define name="MAG_Y_NEUTRAL" value="238"/>
<define name="MAG_Z_NEUTRAL" value="-74"/>
<define name="MAG_X_SENS" value="3.67001348283" integer="16"/>
<define name="MAG_Y_SENS" value="3.98840260231" integer="16"/>
<define name="MAG_Z_SENS" value="4.32568461736" integer="16"/>



<!-- MAGNETO CURRENT CALIBRATION -->
<define name= "MAG_X_CURRENT_COEF" value="-0.0176704713698"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.0174222594634"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.0187570316492"/>
</section>

<section name="AUTOPILOT">
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21 changes: 21 additions & 0 deletions conf/airframes/TUDelft/calibrations/ladybird1.xml
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@@ -0,0 +1,21 @@
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<airframe>
<section name="IMU" prefix="IMU_">
<!-- Magneto calibration -->

<!-- MAGNETO CALIBRATION ANTWERP -->
<define name="MAG_X_NEUTRAL" value="-272"/>
<define name="MAG_Y_NEUTRAL" value="-1048"/>
<define name="MAG_Z_NEUTRAL" value="-196"/>
<define name="MAG_X_SENS" value="3.71896242867" integer="16"/>
<define name="MAG_Y_SENS" value="4.08168121098" integer="16"/>
<define name="MAG_Z_SENS" value="3.93086401526" integer="16"/>


<!-- MAGNETO CURRENT CALIBRATION -->
<define name= "MAG_X_CURRENT_COEF" value="-0.0176704713698"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.0174222594634"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.0187570316492"/>
</section>
</airframe>
27 changes: 27 additions & 0 deletions conf/airframes/TUDelft/calibrations/ladybird18.xml
View file
@@ -0,0 +1,27 @@
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<airframe>
<section name="IMU" prefix="IMU_">
<!-- Magneto calibration -->
<!-- MAGNETO CALIBRATION ANTWERPEN
<define name="MAG_X_NEUTRAL" value="-147"/>
<define name="MAG_Y_NEUTRAL" value="152"/>
<define name="MAG_Z_NEUTRAL" value="-5"/>
<define name="MAG_X_SENS" value="3.56142779007" integer="16"/>
<define name="MAG_Y_SENS" value="3.82223743533" integer="16"/>
<define name="MAG_Z_SENS" value="4.15618897164" integer="16"/> -->

<!-- MAGNETO CALIBRATION DELFT-->
<define name="MAG_X_NEUTRAL" value="10"/>
<define name="MAG_Y_NEUTRAL" value="238"/>
<define name="MAG_Z_NEUTRAL" value="-74"/>
<define name="MAG_X_SENS" value="3.67001348283" integer="16"/>
<define name="MAG_Y_SENS" value="3.98840260231" integer="16"/>
<define name="MAG_Z_SENS" value="4.32568461736" integer="16"/>

<!-- MAGNETO CURRENT CALIBRATION -->
<define name= "MAG_X_CURRENT_COEF" value="-0.0176704713698"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.0174222594634"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.0187570316492"/>
</section>
</airframe>

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