Rev 1611 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1611 | Rev 1690 | ||
---|---|---|---|
1 | <imuconfiguration eepromVersion="0" length="11" name="ENC-03/FC1.3"> |
1 | <imuconfiguration eepromVersion="1" length="12" name="ENC-03/FC1.3"> |
2 | <parameter name="gyroQuadrant" value="0" /> |
2 | <parameter name="gyroQuadrant" value="0" /> |
3 | <parameter name="accQuadrant" value="4" /> |
3 | <parameter name="accQuadrant" value="4" /> |
4 | <parameter name="imuReversedFlags"> |
4 | <parameter name="imuReversedFlags"> |
5 | <bit name="IMU_REVERSE_GYRO_PR" value="0" /> |
5 | <bit name="IMU_REVERSE_GYRO_PR" value="0" /> |
6 | <bit name="IMU_REVERSE_GYRO_YAW" value="0" /> |
6 | <bit name="IMU_REVERSE_GYRO_YAW" value="0" /> |
7 | <bit name="IMU_REVERSE_ACC_XY" value="1" /> |
7 | <bit name="IMU_REVERSE_ACC_XY" value="1" /> |
8 | <bit name="IMU_REVERSE_ACC_Z" value="0" /> |
8 | <bit name="IMU_REVERSE_ACC_Z" value="0" /> |
9 | <bit name="Unused" value="0" /> |
9 | <bit name="Unused" value="0" /> |
10 | <bit name="Unused" value="0" /> |
10 | <bit name="Unused" value="0" /> |
11 | <bit name="Unused" value="0" /> |
11 | <bit name="Unused" value="0" /> |
12 | <bit name="Unused" value="0" /> |
12 | <bit name="Unused" value="0" /> |
13 | </parameter> |
13 | </parameter> |
14 | 14 | ||
15 | <parameter name="gyroPIDFilterConstant" value="1" /> |
15 | <parameter name="gyroPIDFilterConstant" value="1" /> |
- | 16 | <parameter name="gyroDWindowLength" value="8" /> |
|
16 | <parameter name="gyroDFilterConstant" value="1" /> |
17 | <parameter name="gyroDFilterConstant" value="0" /> |
17 | <parameter name="accFilterConstant" value="15" /> |
18 | <parameter name="accFilterConstant" value="15" /> |
18 | 19 | ||
19 | <parameter name="zerothOrderCorrection" value="10" /> |
20 | <parameter name="zerothOrderCorrection" value="10" /> |
20 | <parameter name="rateTolerance" value="100" /> |
21 | <parameter name="rateTolerance" value="100" /> |
21 | <parameter name="gyroActivityDamping" value="64" /> |
22 | <parameter name="gyroActivityDamping" value="64" /> |
22 | 23 | ||
23 | <parameter name="driftCompDivider" value="2" /> |
24 | <parameter name="driftCompDivider" value="2" /> |
24 | <parameter name="driftCompLimit" value="0" /> |
25 | <parameter name="driftCompLimit" value="50" /> |
25 | </imuconfiguration> |
26 | </imuconfiguration> |
26 | 27 |