<commit_before>/** 
 * \page The MAV'RIC license
 *
 * The MAV'RIC Framework
 *
 * Copyright  2011-2014
 *
 * Laboratory of Intelligent Systems, EPFL
 */
 

/**
 * \file conf_platform.h
 *
 * This file configures the imu for the rev 4 of the maveric autopilot
 */ 


#ifndef CONF_PLATFORM_H_
#define CONF_PLATFORM_H_

#ifdef __cplusplus
	extern "C" {
#endif

//#include "conf_imu_rev3.h"
//#include "conf_imu_rev4.h"

#define NATIVE_BIG_ENDIAN  

#define MAVLINK_SYS_ID 2
#define MAVLINK_BASE_STATION_ID 255

#define CONF_DIAG
//#define CONF_CROSS

#define RC_INPUT_SCALE 0.8
///< Thrust compensation for hover (relative to center position)
#define THRUST_HOVER_POINT (-0.3f)

///< Define which configuration of the imu to use, depending on the autopilot ID
#if MAVLINK_SYS_ID == 1
#include "MAVsettings/MAV001_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 2
#include "MAVsettings/MAV002_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 3
#include "MAVsettings/MAV003_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 4
#include "MAVsettings/MAV004_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 6
#include "MAVsettings/MAV006_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 7
#include "MAVsettings/MAV007_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 8
#include "MAVsettings/MAV008_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 9
#include "MAVsettings/MAV009_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 10
#include "MAVsettings/MAV010_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 101
#include "MAVsettings/MAV101_conf_imu_rev4.h"
#else
#include "conf_imu_rev4.h"
#endif

#define IMU_X 0				///< Define the index for the IMU array
#define IMU_Y 1				///< Define the index for the IMU array
#define IMU_Z 2				///< Define the index for the IMU array

#define ROLL 0				///< Define the index for the IMU array
#define PITCH 1				///< Define the index for the IMU array
#define YAW 2				///< Define the index for the IMU array

#define X			0		///< Define the index for the IMU array
#define Y			1		///< Define the index for the IMU array
#define Z			2		///< Define the index for the IMU array

#define GYRO_OFFSET 0		///< Define the index for the IMU array
#define ACC_OFFSET 3		///< Define the index for the IMU array
#define MAG_OFFSET 6	///< Define the index for the IMU array
							
#define UPVECTOR_X  0		///< Define the index for the IMU array
#define UPVECTOR_Y  0		///< Define the index for the IMU array
#define UPVECTOR_Z -1		///< Define the index for the IMU array
							
#define FRONTVECTOR_X 1		///< Define the index for the IMU array
#define FRONTVECTOR_Y 0		///< Define the index for the IMU array
#define FRONTVECTOR_Z 0		///< Define the index for the IMU array

//#define FRONTVECTOR_Z -1.3846f	///< Inside value
//#define FRONTVECTOR_Z -0.8985f ///< Outside value<commit_msg>Update conf_platform.h with the new board data<commit_after>/** 
 * \page The MAV'RIC license
 *
 * The MAV'RIC Framework
 *
 * Copyright  2011-2014
 *
 * Laboratory of Intelligent Systems, EPFL
 */
 

/**
 * \file conf_platform.h
 *
 * This file configures the imu for the rev 4 of the maveric autopilot
 */ 


#ifndef CONF_PLATFORM_H_
#define CONF_PLATFORM_H_

#ifdef __cplusplus
	extern "C" {
#endif

//#include "conf_imu_rev3.h"
//#include "conf_imu_rev4.h"

#define NATIVE_BIG_ENDIAN  

#define MAVLINK_SYS_ID 102
#define MAVLINK_BASE_STATION_ID 255

#define CONF_DIAG
//#define CONF_CROSS

#define RC_INPUT_SCALE 0.8
///< Thrust compensation for hover (relative to center position)
#define THRUST_HOVER_POINT (-0.3f)

///< Define which configuration of the imu to use, depending on the autopilot ID
#if MAVLINK_SYS_ID == 1
#include "MAVsettings/MAV001_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 2
#include "MAVsettings/MAV002_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 3
#include "MAVsettings/MAV003_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 4
#include "MAVsettings/MAV004_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 6
#include "MAVsettings/MAV006_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 7
#include "MAVsettings/MAV007_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 8
#include "MAVsettings/MAV008_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 9
#include "MAVsettings/MAV009_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 10
#include "MAVsettings/MAV010_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 101
#include "MAVsettings/MAV101_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 102
#include "MAVsettings/MAV102_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 202
#include "MAVsettings/MAV202_conf_imu_rev4.h"
#elif MAVLINK_SYS_ID == 203
#include "MAVsettings/MAV203_conf_imu_rev4.h"
#else
#include "conf_imu_rev4.h"
#endif

#define IMU_X 0				///< Define the index for the IMU array
#define IMU_Y 1				///< Define the index for the IMU array
#define IMU_Z 2				///< Define the index for the IMU array

#define ROLL 0				///< Define the index for the IMU array
#define PITCH 1				///< Define the index for the IMU array
#define YAW 2				///< Define the index for the IMU array

#define X			0		///< Define the index for the IMU array
#define Y			1		///< Define the index for the IMU array
#define Z			2		///< Define the index for the IMU array

#define GYRO_OFFSET 0		///< Define the index for the IMU array
#define ACC_OFFSET 3		///< Define the index for the IMU array
#define MAG_OFFSET 6	///< Define the index for the IMU array
							
#define UPVECTOR_X  0		///< Define the index for the IMU array
#define UPVECTOR_Y  0		///< Define the index for the IMU array
#define UPVECTOR_Z -1		///< Define the index for the IMU array
							
#define FRONTVECTOR_X 1		///< Define the index for the IMU array
#define FRONTVECTOR_Y 0		///< Define the index for the IMU array
#define FRONTVECTOR_Z 0		///< Define the index for the IMU array

//#define FRONTVECTOR_Z -1.3846f	///< Inside value
//#define FRONTVECTOR_Z -0.8985f ///< Outside value
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