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Rev Author Line No. Line
1635 - 1
User param 4: Throttle stick D value.
2
 
1612 dongfang 3
Userparam 5: Filter control.
4
bits 0-1: Gyros 1st order
5
bits 2-3: Gyros 2nd order
6
bits 4-5: GyroD (in series with 1st order)
7
bits 6-7: Acc.
8
 
9
Userparam6: Motor smoothing.
10
0: No filter
11
1: 50% new 50% old
12
2: As H&I
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3: Reverse H&I
14
 
1614 dongfang 15
Userparam7: Yaw I factor. Default 0 (may be nasty to fly!)
1612 dongfang 16
 
17
Userparam8: Acc integral correction Z axis limit. Default 0 (!)
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Other params:
1614 dongfang 21
GyroAccFactor = 0'th order integral drift correction - acceleration sensor part as 1/1000s.
22
	Default 5 (ENC-03)
23
GyroAccTrim = -1'th order integral drift correction -
24
    Offset corrections are divided by this before added to offsets. Default 2.
25
DriftComp = Max offset correction per iteration (=per 1/2 second).
1635 - 26
    This limits the value _before_ division by GyroAccTrim. Default 32 (ENC-03)
1612 dongfang 27
 
1635 - 28
Rotary rate limiter flag ON = dongfang axis coupling used. OFF = H&I axis coupling
1614 dongfang 29
    (with the modification that it does not affect the rate values).
30
    If axis coupling is off: No effect.
31
    The rotary rate limiter was removed.