From bba5b0e5300e7ec2db25ce6211526c29fb92a131 Mon Sep 17 00:00:00 2001 From: khancyr <khancyr@gmail.com> Date: Thu, 13 Oct 2016 09:34:55 +0200 Subject: [PATCH] autotest: update gazebo-iris parms --- .../autotest/default_params/gazebo-iris.parm | 26 +++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/Tools/autotest/default_params/gazebo-iris.parm b/Tools/autotest/default_params/gazebo-iris.parm index f50e7160b0..85f1cb14ef 100644 --- a/Tools/autotest/default_params/gazebo-iris.parm +++ b/Tools/autotest/default_params/gazebo-iris.parm @@ -2,9 +2,35 @@ PLND_ENABLED 1 PLND_TYPE 2 POS_XY_P 2 VEL_XY_P 0.6 +# Iris is X frame +FRAME 1 + COMPASS_OFS_X 5 COMPASS_OFS_Y 13 COMPASS_OFS_Z -18 COMPASS_OFS2_X 5 COMPASS_OFS2_Y 13 COMPASS_OFS2_Z -18 + +# we need small INS_ACC offsets so INS is recognised as being calibrated +INS_ACCOFFS_X 0.001 +INS_ACCOFFS_Y 0.001 +INS_ACCOFFS_Z 0.001 +INS_ACCSCAL_X 1.001 +INS_ACCSCAL_Y 1.001 +INS_ACCSCAL_Z 1.001 +INS_ACC2OFFS_X 0.001 +INS_ACC2OFFS_Y 0.001 +INS_ACC2OFFS_Z 0.001 +INS_ACC2SCAL_X 1.001 +INS_ACC2SCAL_Y 1.001 +INS_ACC2SCAL_Z 1.001 +INS_ACC3OFFS_X 0.000 +INS_ACC3OFFS_Y 0.000 +INS_ACC3OFFS_Z 0.000 +INS_ACC3SCAL_X 1.000 +INS_ACC3SCAL_Y 1.000 +INS_ACC3SCAL_Z 1.000 + +MOT_THST_EXPO 0.5 +MOT_THST_HOVER 0.36 -- GitLab