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Rev 1630 | Rev 1632 | ||
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1 | <imuconfiguration eepromVersion="1" length="15" > |
1 | <imuconfiguration eepromVersion="1" length="15" > |
2 | <parameter name="gyroQuadrant" value="2" /> |
2 | <parameter name="gyroQuadrant" value="2" /> |
3 | <parameter name="accQuadrant" value="0" /> |
3 | <parameter name="accQuadrant" value="0" /> |
4 | <parameter name="imuReversedFlags" type="bitset"> |
4 | <parameter name="imuReversedFlags" type="bitset"> |
5 | <bit name="IMU_REVERSE_GYRO_PR" value="0"/> |
5 | <bit name="IMU_REVERSE_GYRO_PR" value="0"/> |
6 | <bit name="IMU_REVERSE_GYRO_YAW" value="0" /> |
6 | <bit name="IMU_REVERSE_GYRO_YAW" value="0" /> |
7 | <bit name="IMU_REVERSE_ACC_XY" value="0" /> |
7 | <bit name="IMU_REVERSE_ACC_XY" value="0" /> |
8 | <bit name="IMU_REVERSE_ACC_Z" value="0" /> |
8 | <bit name="IMU_REVERSE_ACC_Z" value="0" /> |
9 | <bit name="Unused" value="0" /> |
9 | <bit name="Unused" value="0" /> |
10 | <bit name="Unused" value="0" /> |
10 | <bit name="Unused" value="0" /> |
11 | <bit name="Unused" value="0" /> |
11 | <bit name="Unused" value="0" /> |
12 | <bit name="Unused" value="0" /> |
12 | <bit name="Unused" value="0" /> |
13 | </parameter> |
13 | </parameter> |
14 | 14 | ||
15 | <parameter name="gyroPIDFilterConstant" value="4" /> |
15 | <parameter name="gyroPIDFilterConstant" value="8" /> |
16 | <parameter name="gyroDWindowLength" value="3" /> |
16 | <parameter name="gyroDWindowLength" value="8" /> |
17 | <parameter name="gyroDFilterConstant" value="1" /> |
17 | <parameter name="gyroDFilterConstant" value="1" /> |
18 | <parameter name="accFilterConstant" value="10" /> |
18 | <parameter name="accFilterConstant" value="10" /> |
19 | 19 | ||
20 | <parameter name="zerothOrderCorrection" value="1" /> |
20 | <parameter name="zerothOrderCorrection" value="1" /> |
21 | <parameter name="rateTolerance" value="120" /> |
21 | <parameter name="rateTolerance" value="120" /> |
22 | <parameter name="gyroActivityDamping" value="8" /> |
22 | <parameter name="gyroActivityDamping" value="8" /> |
23 | 23 | ||
24 | <parameter name="driftCompDivider" value="2" /> |
24 | <parameter name="driftCompDivider" value="2" /> |
25 | <parameter name="driftCompLimit" value="5" /> |
25 | <parameter name="driftCompLimit" value="5" /> |
26 | 26 | ||
27 | <parameter name="gyroPitchCalibration" value="0" /> |
27 | <parameter name="gyroPitchCalibration" value="0" /> |
28 | <parameter name="gyroRollCalibration" value="0" /> |
28 | <parameter name="gyroRollCalibration" value="0" /> |
29 | <parameter name="gyroYawCalibration" value="0" /> |
29 | <parameter name="gyroYawCalibration" value="0" /> |
30 | </imuconfiguration> |
30 | </imuconfiguration> |
31 | 31 |