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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | Userparam 5: Filter control. |
| 2 | bits 0-1: Gyros 1st order |
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| 3 | bits 2-3: Gyros 2nd order |
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| 4 | bits 4-5: GyroD (in series with 1st order) |
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| 5 | bits 6-7: Acc. |
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| 6 | |||
| 7 | Userparam6: Motor smoothing. |
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| 8 | 0: No filter |
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| 9 | 1: 50% new 50% old |
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| 10 | 2: As H&I |
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| 11 | 3: Reverse H&I |
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| 12 | |||
| 13 | Userparam7: Yaw I factor. Default 0 (!) |
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| 14 | |||
| 15 | Userparam8: Acc integral correction Z axis limit. Default 0 (!) |
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| 16 | |||
| 17 | |||
| 18 | Other params: |
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| 19 | GyroAccFactor = Promille acc. i 0'te orden integralkorrektion. Default 5 (ENC-03) |
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| 20 | GyroAccTrim = Offset korrektioner divideres med dette foer det laegges til offsets. Default 2. |
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| 21 | DriftComp = Max offsetkorrektur pr. omgang (1/2 sek). Det er _foer_ division med GyroAccTrim! Default 32 (ENC-03) |
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| 22 | |||
| 23 | Rotary rate limiter flag ON = dongfang axis coupling |
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| 24 | Rotary rate limiter flag OFF = partial H&I |