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LibrePilot/shared/uavobjectdefinition/ahrscalibration.xml

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OP-118 AHRS: Added AHRSCalibration object and messages associated with that to AHRS. Also made AHRS run calibration only when requested. We will create a GCS plugin that runs through computing the calibration settings. To compute the variances on the AHRS set the measure variances to true, wait ten seconds, then set it to false to read it back. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1363 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 23:46:02 +02:00
<xml>
OP-118 AHRS: Added 6 point calibration routine to AHRS config widget. To use it, click "Cal Mode", then place the AHRS on each of 6 sides of a cube then click save position. Finally click compute to push the updated scale abd bias terms to the AHRS. Also fixed a bug in UAVObjectField that would not allow you to setDouble for extra fields. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1449 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-28 20:48:51 +02:00
<object name="AHRSCalibration" singleinstance="true" settings="true">
<description>Contains the calibration settings for the @ref AHRSCommsModule</description>
AHRS: Get calibration working again git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1842 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-02 05:10:04 +02:00
<field name="measure_var" units="" type="enum" elements="1" options="SET,MEASURE" defaultvalue="SET"/>
OP-191: Merge from full-calibration branch. Add orthogonality calibration to the accelerometer, and use it. Also adjust the treatment of accelerometer scale factors, such that the diagonal elements of the calibration scale factor matrix are positive. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3057 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-21 01:51:45 +01:00
<field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="-73.5,-73.5,73.5"/>
<field name="accel_scale" units="(m/s)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="0.0359,0.0359,0.0359"/>
<field name="accel_ortho" units="scale" type="float" elementnames="XY,XZ,YZ" defaultvalue="0.0,0.0,0.0"/>
<field name="accel_var" units="(m/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="5e-4"/>
OP-316 - UAVObject units Fix accelerations units Fix default mag values Fix gyro scale Fix var units git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2868 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-24 02:52:39 +01:00
<field name="gyro_bias" units="rad/s" type="float" elementnames="X,Y,Z" defaultvalue="23,-23,23"/>
OP-316 UAVObject Fix typo, indents, units, default values git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2896 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-27 01:38:59 +01:00
<field name="gyro_scale" units="(rad/s)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="-0.017,0.017,-0.017"/>
OP-316 - UAVObject units Fix accelerations units Fix default mag values Fix gyro scale Fix var units git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2868 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-24 02:52:39 +01:00
<field name="gyro_var" units="(rad/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1e-4"/>
AHRS: Support for Linear Temperature Compensation Factors for Gyroscope X,Y,Z git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2327 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-04 01:54:31 +01:00
<field name="gyro_tempcompfactor" units="raw/raw" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
OP-167 OP-157 AHRS/Calibration: Added mag scale and really cleaned up calibration. Calibration should take less time now too (using second moments to estimate variance in one pass). Now need to change to multiple messages to get the calibration in to keep the request message size minimal. Also currently running sensor calibrate doesn't store the gyro bias so if you want to use this you'll have to tweak it manually. I'll fix that step tomorrow. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1741 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-25 11:20:38 +02:00
<field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
OP-191: Merge from full-calibration branch. Add orthogonality calibration to the accelerometer, and use it. Also adjust the treatment of accelerometer scale factors, such that the diagonal elements of the calibration scale factor matrix are positive. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3057 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-21 01:51:45 +01:00
<field name="mag_scale" units="(mGau)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
<field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="5e-5"/>
AHRS: Add a separate parameter for velocity and position variance and remove indoor from the name since it's used for both indoor and outdoor mode now. Increased default value to 0.4 to better reflect the GPS accuracy. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2156 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-26 16:57:08 +01:00
<field name="vel_var" units="(m/s)^2" type="float" elements="1" defaultvalue="0.4"/>
<field name="pos_var" units="m^2" type="float" elements="1" defaultvalue="0.4"/>
OP-118 AHRS: Added 6 point calibration routine to AHRS config widget. To use it, click "Cal Mode", then place the AHRS on each of 6 sides of a cube then click save position. Finally click compute to push the updated scale abd bias terms to the AHRS. Also fixed a bug in UAVObjectField that would not allow you to setDouble for extra fields. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1449 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-28 20:48:51 +02:00
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
OP-316 UAVObject Fix typo, indents, units, default values git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2896 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-27 01:38:59 +01:00
<logging updatemode="never" period="0"/>
OP-118 AHRS: Added 6 point calibration routine to AHRS config widget. To use it, click "Cal Mode", then place the AHRS on each of 6 sides of a cube then click save position. Finally click compute to push the updated scale abd bias terms to the AHRS. Also fixed a bug in UAVObjectField that would not allow you to setDouble for extra fields. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1449 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-28 20:48:51 +02:00
</object>
AHRS: Support for Linear Temperature Compensation Factors for Gyroscope X,Y,Z git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2327 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-04 01:54:31 +01:00
</xml>
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