From edff4bc3b99fb2ec4f3aaea8715e4fff54b72ce7 Mon Sep 17 00:00:00 2001
From: Dennis van Wijngaarden
 <32736330+Dennis-Wijngaarden@users.noreply.github.com>
Date: Tue, 27 Feb 2024 08:34:36 +0100
Subject: [PATCH] [airframes] Updated calibrations of rotating wing drones

---
 conf/airframes/tudelft/rot_wing_v3d.xml | 4 ++--
 conf/airframes/tudelft/rot_wing_v3e.xml | 2 +-
 conf/airframes/tudelft/rot_wing_v3g.xml | 4 ++--
 conf/airframes/tudelft/rot_wing_v3h.xml | 6 +++---
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/conf/airframes/tudelft/rot_wing_v3d.xml b/conf/airframes/tudelft/rot_wing_v3d.xml
index 8b6efcd11eb..9960eb2464c 100644
--- a/conf/airframes/tudelft/rot_wing_v3d.xml
+++ b/conf/airframes/tudelft/rot_wing_v3d.xml
@@ -192,7 +192,7 @@
         <servo no="2"  name="MOTOR_BACK"      min="0"     neutral="1000" max="8191"/>
         <servo no="3"  name="MOTOR_LEFT"      min="0"     neutral="1000" max="8191"/>
         <servo no="4"  name="MOTOR_PUSH"      min="0"     neutral="0"    max="8191"/>
-        <servo no="5"  name="ROTATION_MECH"   min="-2842" neutral="1053" max="4947"/>
+        <servo no="5"  name="ROTATION_MECH"   min="-2375" neutral="-172" max="2031"/>
     </servos>
 
      <!-- CAN BUS 1 command outputs-->
@@ -207,7 +207,7 @@
         <servo no="1" name="BMOTOR_RIGHT"   min="0" neutral="1000" max="8191"/>
         <servo no="2" name="BMOTOR_BACK"    min="0" neutral="1000" max="8191"/>
         <servo no="3" name="BMOTOR_LEFT"    min="0" neutral="1000" max="8191"/>
-        <servo no="5" name="BROTATION_MECH" min="-2842" neutral="1053" max="4947"/>
+        <servo no="5" name="BROTATION_MECH" min="-2375" neutral="-172" max="2031"/>
     </servos>
 
     <!-- CAN BUS 2 command outputs-->
diff --git a/conf/airframes/tudelft/rot_wing_v3e.xml b/conf/airframes/tudelft/rot_wing_v3e.xml
index 340e766c1b6..eebe8af3ed7 100644
--- a/conf/airframes/tudelft/rot_wing_v3e.xml
+++ b/conf/airframes/tudelft/rot_wing_v3e.xml
@@ -197,7 +197,7 @@
 
      <!-- CAN BUS 1 command outputs-->
     <servos driver="Uavcan1Cmd">
-        <servo no="6"  name="SERVO_ELEVATOR"  min="8191"  neutral="8191" max="-4349"/>
+        <servo no="6"  name="SERVO_ELEVATOR"  min="5400"  neutral="5400" max="-4349"/>
         <servo no="7"  name="SERVO_RUDDER"    min="-5225" neutral="0"    max="5225"/>
     </servos>
 
diff --git a/conf/airframes/tudelft/rot_wing_v3g.xml b/conf/airframes/tudelft/rot_wing_v3g.xml
index 580f00fc0dd..a25894af9c2 100644
--- a/conf/airframes/tudelft/rot_wing_v3g.xml
+++ b/conf/airframes/tudelft/rot_wing_v3g.xml
@@ -68,7 +68,7 @@
         </module>
         <module name="airspeed" type="ms45xx_i2c">
             <define name="MS45XX_I2C_DEV"               value="i2c2"/>
-            <define name="MS45XX_PRESSURE_SCALE"        value="1.9077609"/>
+            <define name="MS45XX_PRESSURE_SCALE"        value="1.65"/>
             <define name="USE_AIRSPEED_LOWPASS_FILTER"  value="TRUE"/>
             <define name="MS45XX_LOWPASS_TAU"           value="0.15"/>
             <define name="AIRSPEED_MS45XX_SEND_ABI"     value="1"/>
@@ -343,7 +343,7 @@
 
     <section name="IMU" prefix="IMU_">
         <define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={-19,0,28}, .scale={{1537,43219,6232},{157,4410,641}}, .filter_sample_freq=1127, .filter_freq=30}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={-1,2,33}, .scale={{21914,8531,5489},{4477,1738,1120}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-47,0,3}, .scale={{17288,29444,25808},{3531,6031,5293}}}}"/>
-        <define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={-1,-2,22}, .scale={{8241,27895,4777},{15881,55537,10618}}, .body_to_sensor={{0,16384,0,16384,0,0,0,0,-16384}}}}"/>
+        <define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={3163,2783,1623}, .scale={{25833,28413,12237},{45868,51206,22472}}, .body_to_sensor={{0,16384,0,16384,0,0,0,0,-16384}}}}"/>
         <define name="GYRO_CALIB"  value="{{.abi_id=20, .calibrated={.filter=true}, .filter_sample_freq=1127, .filter_freq=30}}"/>
 
         <!-- Define axis in hover frame -->
diff --git a/conf/airframes/tudelft/rot_wing_v3h.xml b/conf/airframes/tudelft/rot_wing_v3h.xml
index 414f17ecfa1..e88138d7b4f 100644
--- a/conf/airframes/tudelft/rot_wing_v3h.xml
+++ b/conf/airframes/tudelft/rot_wing_v3h.xml
@@ -68,7 +68,7 @@
         </module>
         <module name="airspeed" type="ms45xx_i2c">
             <define name="MS45XX_I2C_DEV"               value="i2c2"/>
-            <define name="MS45XX_PRESSURE_SCALE"        value="1.9077609"/>
+            <define name="MS45XX_PRESSURE_SCALE"        value="1.65"/>
             <define name="USE_AIRSPEED_LOWPASS_FILTER"  value="TRUE"/>
             <define name="MS45XX_LOWPASS_TAU"           value="0.15"/>
             <define name="AIRSPEED_MS45XX_SEND_ABI"     value="1"/>
@@ -197,7 +197,7 @@
 
      <!-- CAN BUS 1 command outputs-->
     <servos driver="Uavcan1Cmd">
-        <servo no="6"  name="SERVO_ELEVATOR"  min="8191"  neutral="8191" max="-6102"/>
+        <servo no="6"  name="SERVO_ELEVATOR"  min="1200"  neutral="1200" max="-8191"/>
         <servo no="7"  name="SERVO_RUDDER"    min="-5225" neutral="0"    max="5225"/>
     </servos>
 
@@ -343,7 +343,7 @@
 
     <section name="IMU" prefix="IMU_">
         <define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={-19,0,11}, .scale={{36573,4111,12385},{3737,420,1269}}, .filter_sample_freq=1130, .filter_freq=30}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={-1,-5,24}, .scale={{21205,53606,11977},{4326,10919,2440}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-63,-14,21}, .scale={{32790,18121,37501},{6697,3698,7659}}}}"/>
-        <define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={-1,-2,22}, .scale={{8241,27895,4777},{15881,55537,10618}}, .body_to_sensor={{0,16384,0,16384,0,0,0,0,-16384}}}}"/>
+        <define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={2658,2634,1176}, .scale={{20085,2361,16413},{34633,4348,28912}}, .body_to_sensor={{0,16384,0,16384,0,0,0,0,-16384}}}}"/>
         <define name="GYRO_CALIB"  value="{{.abi_id=20, .calibrated={.filter=true}, .filter_sample_freq=1130, .filter_freq=30}}"/>
 
         <!-- Define axis in hover frame -->