diff --git a/Tools/Frame_params/ModalAI/AutonomyDevKit.parm b/Tools/Frame_params/ModalAI/AutonomyDevKit.parm index 57ca6e57af..fb4c5f0570 100644 --- a/Tools/Frame_params/ModalAI/AutonomyDevKit.parm +++ b/Tools/Frame_params/ModalAI/AutonomyDevKit.parm @@ -12,6 +12,12 @@ LOG_BITMASK 65535 # mag field varies quite a lot between batteries ARMING_MAGTHRESH 200 +# IMU orientation +AHRS_ORIENTATION 8 + +# compass orientation +COMPASS_ORIENT 8 + # filtering INS_GYRO_FILTER 40 INS_HNTCH_ENABLE 1 @@ -55,6 +61,9 @@ BATT_VOLT_PIN 1 BATT_CURR_PIN 2 BATT_VOLT_MULT 1 BATT_AMP_PERVLT 1 +# on the test board we have a current offset of -16.8A +# we need to check if this applies to all versions of this vehicle +BATT_AMP_OFFSET -16.8 # 2S battery range MOT_BAT_VOLT_MAX 8.400000