| 154,7 → 154,6 |
|---|
| |
| // IMU |
| staticParams.gyroPIDFilterConstant = 1; |
| staticParams.gyroATTFilterConstant = 1; |
| staticParams.gyroDFilterConstant = 1; |
| staticParams.accFilterConstant = 10; |
| |
| 168,8 → 167,8 |
|---|
| // staticParams.driftCompLimit = |
| |
| staticParams.dynamicStability = 50; |
| staticParams.zerothOrderCorrectionAccTolerance = 60; |
| staticParams.zerothOrderCorrectionControlTolerance = 60; |
| staticParams.rateTolerance = 10; |
| staticParams.yawRateFactor = 4; |
| staticParams.IFactor = 52; |
| staticParams.yawIFactor = 100; |
| staticParams.compassYawCorrection = 64; |
| 202,9 → 201,6 |
|---|
| staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
| |
| staticParams.naviMode = 0; // free. |
| |
| staticParams.maxControlActivity = 0; // temporary! |
| staticParams.maxAccVector = 80; |
| } |
| |
| /***************************************************/ |