0,0 → 1,36 |
Userparam 3: Projection throttle effect. |
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Userparam 4: Throttle stick D value. Recommended: 12-15. Good fun to fly with. |
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Userparam 5: Filter control. |
bits 0-1: Gyro signal for the flight control PID (filter constants 1-4) |
bits 2-3: Gyro signal for the attitude angle integration (ATT) (filter constants 1-4) |
bits 4-5: GyroD (filter constants 1-4) |
bits 6-7: Acc. (filter constants 1-4) |
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Userparam6: Motor smoothing. |
0: No filter |
1: 50% new 50% old |
2: As H&I |
3: Reverse H&I |
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Userparam7: Yaw I factor. Default 0 (may be nasty to fly!). Recommended: ca. 100. |
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Userparam8: Acc integral correction Z axis limit. Default 0 (!) |
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Other params: |
GyroAccFactor = 0'th order integral drift correction - acceleration sensor part as 1/1000s. |
Default 5 (ENC-03) |
GyroAccTrim = -1'th order integral drift correction - |
Offset corrections are divided by this before added to offsets. Default 2. |
DriftComp = Max offset correction per iteration (=per 1/2 second). |
This limits the value _before_ division by GyroAccTrim. Default 32 (ENC-03) |
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Rotary rate limiter flag ON = The gyro signals for flight control are extrapolated with |
a sharp rise in "virtual" rotation rates when the gyros are near saturation. This |
prevents (via the flight control) the copter from turning fast enough that the gyros |
saturate. Saturation will have the effect that stick controls overwhelm the (now clipped) |
gyro feedback in the flight control, and the copter flips VERY fast. Saturation is |
normally undesirable but it provides for a very entertaining stunt! |
The rotary rate limiter (beginner feature to make the copter _very_ irresponsive to |
stick controls) was removed. |