<commit_before>/*
 * conf_imu_rev4.h
 *
 * Created: 20/11/2013 22:21:49
 *  Author: sfx
 */ 


#ifndef CONF_IMU_REV4_H_
#define CONF_IMU_REV4_H_


#define RAW_GYRO_X 0
#define RAW_GYRO_Y 1
#define RAW_GYRO_Z 2

#define RAW_ACC_X 0
#define RAW_ACC_Y 1
#define RAW_ACC_Z 2

#define RAW_COMPASS_X 2
#define RAW_COMPASS_Y 0
#define RAW_COMPASS_Z 1

// from datasheet: FS 2000dps --> 70 mdps/digit
// scale = 1/(0.07 * PI / 180.0) = 818.5111
#define RAW_GYRO_X_SCALE  1637.02223
#define RAW_GYRO_Y_SCALE  -1637.02223
#define RAW_GYRO_Z_SCALE  -1637.02223

#define RAW_ACC_X_SCALE  4101
#define RAW_ACC_Y_SCALE  3900.6
#define RAW_ACC_Z_SCALE  4222.8

#define ACC_BIAIS_X  -75
#define ACC_BIAIS_Y  150
#define ACC_BIAIS_Z  150

#define ACC_AXIS_X  1.0
#define ACC_AXIS_Y -1.0
#define ACC_AXIS_Z -1.0

#define RAW_MAG_X_SCALE 624.21
#define RAW_MAG_Y_SCALE 590.0
#define RAW_MAG_Z_SCALE 512.0

#define MAG_BIAIS_X  100
#define MAG_BIAIS_Y  -40
#define MAG_BIAIS_Z  -79.38

#define MAG_AXIS_X -1.0
#define MAG_AXIS_Y -1.0
#define MAG_AXIS_Z  1.0

#endif /* CONF_IMU_REV4_H_ */<commit_msg>replaced Autopilot in MAV004 and updated calibration<commit_after>/*
 * conf_imu_rev4.h
 *
 * Created: 20/11/2013 22:21:49
 *  Author: sfx
 */ 


#ifndef CONF_IMU_REV4_H_
#define CONF_IMU_REV4_H_


#define RAW_GYRO_X 0
#define RAW_GYRO_Y 1
#define RAW_GYRO_Z 2

#define RAW_ACC_X 0
#define RAW_ACC_Y 1
#define RAW_ACC_Z 2

#define RAW_COMPASS_X 2
#define RAW_COMPASS_Y 0
#define RAW_COMPASS_Z 1

// from datasheet: FS 2000dps --> 70 mdps/digit
// scale = 1/(0.07 * PI / 180.0) = 818.5111
#define RAW_GYRO_X_SCALE  1637.02223
#define RAW_GYRO_Y_SCALE  -1637.02223
#define RAW_GYRO_Z_SCALE  -1637.02223

#define RAW_ACC_X_SCALE  4101
#define RAW_ACC_Y_SCALE  3900.6
#define RAW_ACC_Z_SCALE  4222.8

#define ACC_BIAIS_X  20	
#define ACC_BIAIS_Y  20
#define ACC_BIAIS_Z  223

#define ACC_AXIS_X  1.0
#define ACC_AXIS_Y -1.0
#define ACC_AXIS_Z -1.0

#define RAW_MAG_X_SCALE 624.21
#define RAW_MAG_Y_SCALE 590.0
#define RAW_MAG_Z_SCALE 512.0

#define MAG_BIAIS_X  180
#define MAG_BIAIS_Y  40
#define MAG_BIAIS_Z  112

#define MAG_AXIS_X -1.0
#define MAG_AXIS_Y -1.0
#define MAG_AXIS_Z  1.0

#endif /* CONF_IMU_REV4_H_ */
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