From 89c72bba63c197b17cd774a4d6d9e7010d6ece62 Mon Sep 17 00:00:00 2001
From: bartremes <bartremes@gmail.com>
Date: Sat, 5 Sep 2015 13:51:59 +0200
Subject: [PATCH] [conf] calibration files separate

---
 conf/airframes/BR/DreamCacher_bart.xml        | 20 ++-----------
 conf/airframes/BR/conf.xml                    | 13 ++++++++-
 conf/airframes/BR/ladybird_kit_bart.xml       | 29 ++-----------------
 conf/airframes/BR/ladybird_kit_indi_bart.xml  | 29 ++-----------------
 .../TUDelft/calibrations/ladybird1.xml        | 21 ++++++++++++++
 .../TUDelft/calibrations/ladybird18.xml       | 27 +++++++++++++++++
 6 files changed, 66 insertions(+), 73 deletions(-)
 create mode 100644 conf/airframes/TUDelft/calibrations/ladybird1.xml
 create mode 100644 conf/airframes/TUDelft/calibrations/ladybird18.xml

diff --git a/conf/airframes/BR/DreamCacher_bart.xml b/conf/airframes/BR/DreamCacher_bart.xml
index 1416bddcfd3..238d40cca5b 100644
--- a/conf/airframes/BR/DreamCacher_bart.xml
+++ b/conf/airframes/BR/DreamCacher_bart.xml
@@ -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">
diff --git a/conf/airframes/BR/conf.xml b/conf/airframes/BR/conf.xml
index 42a11dc937c..7364910d075 100644
--- a/conf/airframes/BR/conf.xml
+++ b/conf/airframes/BR/conf.xml
@@ -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>
diff --git a/conf/airframes/BR/ladybird_kit_bart.xml b/conf/airframes/BR/ladybird_kit_bart.xml
index d2ccdb9c498..7f3d8e6d252 100644
--- a/conf/airframes/BR/ladybird_kit_bart.xml
+++ b/conf/airframes/BR/ladybird_kit_bart.xml
@@ -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">
diff --git a/conf/airframes/BR/ladybird_kit_indi_bart.xml b/conf/airframes/BR/ladybird_kit_indi_bart.xml
index aa056b0bc40..bceb367d7bb 100644
--- a/conf/airframes/BR/ladybird_kit_indi_bart.xml
+++ b/conf/airframes/BR/ladybird_kit_indi_bart.xml
@@ -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">
diff --git a/conf/airframes/TUDelft/calibrations/ladybird1.xml b/conf/airframes/TUDelft/calibrations/ladybird1.xml
new file mode 100644
index 00000000000..0e5f5617b2b
--- /dev/null
+++ b/conf/airframes/TUDelft/calibrations/ladybird1.xml
@@ -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>
diff --git a/conf/airframes/TUDelft/calibrations/ladybird18.xml b/conf/airframes/TUDelft/calibrations/ladybird18.xml
new file mode 100644
index 00000000000..4579c20e4ef
--- /dev/null
+++ b/conf/airframes/TUDelft/calibrations/ladybird18.xml
@@ -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>