autotest: use small INS offsets so INS is recognised as being calibrated

10 years ago · 82a08036f6
4 changed files with 28 additions and 0 deletions
--- a/Tools/autotest/ArduPlane.parm
+++ b/Tools/autotest/ArduPlane.parm
@ -65,3 +65,10 @@ ACRO_LOCKING     1
				@@ -65,3 +65,10 @@ ACRO_LOCKING     1
 ELEVON_OUTPUT    0
 VTAIL_OUTPUT     0
 SKIP_GYRO_CAL    1
+# 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
--- a/Tools/autotest/Rover.parm
+++ b/Tools/autotest/Rover.parm
@ -18,3 +18,10 @@ MODE6        0
				@@ -18,3 +18,10 @@ MODE6        0
 STEER2SRV_P     1.8
 SIM_GPS_DELAY 2
 NAVL1_PERIOD 6
+# 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
--- a/Tools/autotest/copter_AVC2013_params.parm
+++ b/Tools/autotest/copter_AVC2013_params.parm
@ -47,6 +47,13 @@ SIM_WIND_SPD    0
				@@ -47,6 +47,13 @@ SIM_WIND_SPD    0
 SIM_WIND_TURB   0
 SIM_BARO_RND    0
 SIM_MAG_RND     0
+# 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
 # flightmodes
 # switch 1 Circle
 # switch 2 LAND
--- a/Tools/autotest/copter_params.parm
+++ b/Tools/autotest/copter_params.parm
@ -46,6 +46,13 @@ SIM_WIND_SPD    0
				@@ -46,6 +46,13 @@ SIM_WIND_SPD    0
 SIM_WIND_TURB   0
 SIM_BARO_RND    0
 SIM_MAG_RND     0
+# 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
 # flightmodes
 # switch 1 Circle
 # switch 2 LAND