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[aggieair] Added calibration values for Iris
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@podhrmic
podhrmic committed Mar 19, 2017
1 parent ee984e2 commit b45ef1f
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Showing 2 changed files with 74 additions and 24 deletions.
96 changes: 73 additions & 23 deletions conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
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Expand Up @@ -12,7 +12,7 @@

<firmware name="rotorcraft">

<target name="ap" board="px4fmu_2.4_chibios" />
<target name="ap" board="px4fmu_2.4" />

<!-- amount of time it take for the bat to check -->
<!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
Expand All @@ -33,15 +33,18 @@
</module-->


<module name="ahrs" type="int_cmpl_quat">
<!--module name="ahrs" type="int_cmpl_quat">
<define name="AHRS_ICQ_IMU_ID" value="IMU_PX4_ID" />
<define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" />
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</module>
</module-->

<module name="ahrs" type="float_mlkf">
<configure name="SECONDARY_AHRS" value="float_mlkf"/>
<!--configure name="SECONDARY_AHRS" value="float_mlkf"/-->
<define name="AHRS_MLKF_IMU_ID" value="IMU_PX4_ID"/>
<!-- use onboard mag -->
<!--define name="AHRS_MLKF_MAG_ID" value="MAG_HMC58XX_SENDER_ID" /-->
</module>


Expand Down Expand Up @@ -140,7 +143,7 @@
</module>

<!-- external mag for better heading estimate -->
<module name="mag" type="hmc58xx">
<!--module name="mag" type="hmc58xx">
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
<define name="HMC58XX_CHAN_X" value="1"/>
Expand All @@ -149,7 +152,7 @@
<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
</module>
</module-->

<module name="air_data"/>
</modules>
Expand All @@ -160,19 +163,63 @@
</section>

<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="-50"/>
<define name="ACCEL_Y_NEUTRAL" value="189"/>
<define name="ACCEL_Z_NEUTRAL" value="270"/>
<define name="ACCEL_X_SENS" value="0.59633793275" integer="16"/>
<define name="ACCEL_Y_SENS" value="0.616609304777" integer="16"/>
<define name="ACCEL_Z_SENS" value="0.624348656549" integer="16"/>

<define name="MAG_X_NEUTRAL" value="75"/>
<define name="MAG_Y_NEUTRAL" value="-10"/>
<define name="MAG_Z_NEUTRAL" value="7"/>
<define name="MAG_X_SENS" value="4.12309023427" integer="16"/>
<define name="MAG_Y_SENS" value="4.23759023915" integer="16"/>
<define name="MAG_Z_SENS" value="4.61141601045" integer="16"/>

<!-- #3 calibraton -->
<define name="ACCEL_X_NEUTRAL" value="-2"/>
<define name="ACCEL_Y_NEUTRAL" value="23"/>
<define name="ACCEL_Z_NEUTRAL" value="21"/>
<define name="ACCEL_X_SENS" value="7.68290727703" integer="16"/>
<define name="ACCEL_Y_SENS" value="7.41725548536" integer="16"/>
<define name="ACCEL_Z_SENS" value="7.25648506436" integer="16"/>

<!--#1 calibration -->
<!--
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="12"/>
<define name="ACCEL_Z_NEUTRAL" value="23"/>
<define name="ACCEL_X_SENS" value="7.40346702354" integer="16"/>
<define name="ACCEL_Y_SENS" value="7.31092326815" integer="16"/>
<define name="ACCEL_Z_SENS" value="7.60884042632" integer="16"/>
-->

<!-- #3 internal mag -->
<!--
<define name="MAG_X_NEUTRAL" value="-831"/>
<define name="MAG_Y_NEUTRAL" value="-2458"/>
<define name="MAG_Z_NEUTRAL" value="1623"/>
<define name="MAG_X_SENS" value="0.383688492241" integer="16"/>
<define name="MAG_Y_SENS" value="0.363160500566" integer="16"/>
<define name="MAG_Z_SENS" value="0.398814954916" integer="16"/>
-->

<!-- #3 external mag -->
<!--
<define name="MAG_X_NEUTRAL" value="100"/>
<define name="MAG_Y_NEUTRAL" value="-11"/>
<define name="MAG_Z_NEUTRAL" value="-84"/>
<define name="MAG_X_SENS" value="3.95372806212" integer="16"/>
<define name="MAG_Y_SENS" value="3.85554408345" integer="16"/>
<define name="MAG_Z_SENS" value="4.43807458722" integer="16"/>
-->

<!-- #1 external mag -->
<!--
<define name="MAG_X_NEUTRAL" value="90"/>
<define name="MAG_Y_NEUTRAL" value="-12"/>
<define name="MAG_Z_NEUTRAL" value="3"/>
<define name="MAG_X_SENS" value="3.9581923374" integer="16"/>
<define name="MAG_Y_SENS" value="4.06927263588" integer="16"/>
<define name="MAG_Z_SENS" value="4.43592657252" integer="16"/>
-->

<!-- #1 internal mag -->
<define name="MAG_X_NEUTRAL" value="-770"/>
<define name="MAG_Y_NEUTRAL" value="2338"/>
<define name="MAG_Z_NEUTRAL" value="-4760"/>
<define name="MAG_X_SENS" value="0.37262897642" integer="16"/>
<define name="MAG_Y_SENS" value="0.367752873196" integer="16"/>
<define name="MAG_Z_SENS" value="0.388678431908" integer="16"/>


<define name="BODY_TO_IMU_PHI" value="0." unit="deg" />
<define name="BODY_TO_IMU_THETA" value="0." unit="deg" />
Expand Down Expand Up @@ -226,13 +273,16 @@
<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="5.0" />
<define name="SONAR_UPDATE_ON_AGL" value="TRUE" />
<!-- Portland -->
<define name="H_X" value="0.3702"/>
<define name="H_Y" value="0.1022"/>
<define name="H_Z" value="0.9233"/>
<!-- Portland
Normalize[{19443.3, 5354.0,48519.5}] = (0.37004, 0.101896, 0.923411)-->
<define name="H_X" value="0.37004"/>
<define name="H_Y" value="0.101896"/>
<define name="H_Z" value="0.923411"/>
<!-- trust more the baro over the gps alt -->
<!--
<define name="INV_NXZ" value="0.3"/>
<define name="INV_NH" value="2.0"/>
-->
</section>

<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
Expand Down
2 changes: 1 addition & 1 deletion conf/telemetry/AGGIEAIR/aggieair_iris.xml
View file
Expand Up @@ -73,7 +73,7 @@
<message name="AHRS_QUAT_INT" period=".25"/>
<message name="AHRS_EULER_INT" period=".1"/>
<message name="AHRS_EULER" period=".1"/>
<!-- <message name="AHRS_RMAT_INT" period=".5"/> -->
<message name="STATE_FILTER_STATUS"period=".5"/>
</mode>

<mode name="rate_loop">
Expand Down

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