Rev 1612 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1612 | dongfang | 1 | Userparam 5: Filter control. |
2 | bits 0-1: Gyros 1st order |
||
3 | bits 2-3: Gyros 2nd order |
||
4 | bits 4-5: GyroD (in series with 1st order) |
||
5 | bits 6-7: Acc. |
||
6 | |||
7 | Userparam6: Motor smoothing. |
||
8 | 0: No filter |
||
9 | 1: 50% new 50% old |
||
10 | 2: As H&I |
||
11 | 3: Reverse H&I |
||
12 | |||
1614 | dongfang | 13 | Userparam7: Yaw I factor. Default 0 (may be nasty to fly!) |
1612 | dongfang | 14 | |
15 | Userparam8: Acc integral correction Z axis limit. Default 0 (!) |
||
16 | |||
17 | |||
18 | Other params: |
||
1614 | dongfang | 19 | GyroAccFactor = 0'th order integral drift correction - acceleration sensor part as 1/1000s. |
20 | Default 5 (ENC-03) |
||
21 | GyroAccTrim = -1'th order integral drift correction - |
||
22 | Offset corrections are divided by this before added to offsets. Default 2. |
||
23 | DriftComp = Max offset correction per iteration (=per 1/2 second). |
||
24 | This limits the value _before_ division by GyroAccTrim! Default 32 (ENC-03) |
||
1612 | dongfang | 25 | |
1614 | dongfang | 26 | Rotary rate limiter flag ON = dongfang axis coupling used. Otherwise H&I axis coupling |
27 | (with the modification that it does not affect the rate values). |
||
28 | If axis coupling is off: No effect. |
||
29 | The rotary rate limiter was removed. |