Re: [Paparazzi-devel] calibrating IR sensors

[Pascal Brisset]

address@hidden wrote:
> 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. 
>   
There is a confusion here:
- the readings should be around 0 during the cupboard test;
- then, the neutrals in the airframe file should be around 512

--Pascal



> 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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