Calibrate magneto

conf/airframes/TUDELFT/tudelft_outback.xml

@@ -132,7 +132,7 @@
   </section>
 
   <command_laws>
-    
+
     <call fun="swashplate_mixing_run(values)"/>
     <let var="th_hold" value="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
     <let var="forward_curve" value="MoreThan(RadioControlValues(RADIO_FMODE), 4800)"/>
@@ -206,12 +206,12 @@
     <define name="ACCEL_Z_NEUTRAL" value="-25"/>
 
     <!-- replace this with your own calibration -->
-    <define name="MAG_X_NEUTRAL" value="26"/>
-    <define name="MAG_Y_NEUTRAL" value="-39"/>
-    <define name="MAG_Z_NEUTRAL" value="-21"/>
-    <define name="MAG_X_SENS" value="19.380617751" integer="16"/>
-    <define name="MAG_Y_SENS" value="16.4157217511" integer="16"/>
-    <define name="MAG_Z_SENS" value="16.4648920242" integer="16"/>
+    <define name="MAG_X_NEUTRAL" value="57"/>
+    <define name="MAG_Y_NEUTRAL" value="-26"/>
+    <define name="MAG_Z_NEUTRAL" value="7"/>
+    <define name="MAG_X_SENS" value="19.7209165598" integer="16"/>
+    <define name="MAG_Y_SENS" value="16.6482878341" integer="16"/>
+    <define name="MAG_Z_SENS" value="16.7156762257" integer="16"/>
 
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
@@ -225,7 +225,7 @@
     <!-- Change sign to fix axis -->
     <define name="MAG_X_SIGN" value="1"/>
     <define name="MAG_Y_SIGN" value="1"/>
-    <define name="MAG_Z_SIGN" value="-1"/>
+    <define name="MAG_Z_SIGN" value="1"/>
   </section>
 
   <section name="AHRS" prefix="AHRS_">