[Paparazzi-devel] calibrating IR sensors

[martinpi . public]

Hello everyone, 

I just tried to calibrate the IR sensors and I am a little confused. 
More by trial and error I got IR1, IR2 and IR vertical to show 512 when encased 
in foam. 
However, longitudinal shows 0 and lateral shows 1024. Is this OK or is there a 
sign to be changed somewhere? 

Initially, the readings were far away from 512 and I had to apply hefty 
corrections. This is how my IR section looks now: 

  <section name="INFRARED" prefix="IR_">
    <define name="ADC_IR1_NEUTRAL" value="-474"/>
    <define name="ADC_IR2_NEUTRAL" value="-327"/>
    <define name="ADC_TOP_NEUTRAL" value="850"/>

    <define name="LATERAL_CORRECTION" value="1."/>
    <define name="LONGITUDINAL_CORRECTION" value="1."/>
    <define name="VERTICAL_CORRECTION" value="1.5"/>

    <define name="HORIZ_SENSOR_TILTED" value="1"/>
    <define name="IR2_SIGN" value="1"/>
    <define name="TOP_SIGN" value="-1"/>

    <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>

    <define name="CORRECTION_UP" value="1."/>
    <define name="CORRECTION_DOWN" value="1."/>
    <define name="CORRECTION_LEFT" value="1."/>
    <define name="CORRECTION_RIGHT" value="1."/>
  </section>

Greetings, Martin 

PS: I got my Tiny back from repair, now the servos work (tried only one, so 
far).

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