Rev 1645 | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1645 | Rev 1775 | ||
|---|---|---|---|
| - | 1 | Userparam 3: Projection throttle effect. |
|
| - | 2 | ||
| 1 | Userparam 4: Throttle stick D value. Recommended: 12-15. Good fun to fly with. |
3 | Userparam 4: Throttle stick D value. Recommended: 12-15. Good fun to fly with. |
| 2 | 4 | ||
| 3 | Userparam 5: Filter control. |
5 | Userparam 5: Filter control. |
| 4 | bits 0-1: Gyro signal for the flight control PID (filter constants 1-4) |
6 | bits 0-1: Gyro signal for the flight control PID (filter constants 1-4) |
| 5 | bits 2-3: Gyro signal for the attitude angle integration (ATT) (filter constants 1-4) |
7 | bits 2-3: Gyro signal for the attitude angle integration (ATT) (filter constants 1-4) |
| 6 | bits 4-5: GyroD (filter constants 1-4) |
8 | bits 4-5: GyroD (filter constants 1-4) |
| 7 | bits 6-7: Acc. (filter constants 1-4) |
9 | bits 6-7: Acc. (filter constants 1-4) |
| 8 | 10 | ||
| 9 | Userparam6: Motor smoothing. |
11 | Userparam6: Motor smoothing. |
| 10 | 0: No filter |
12 | 0: No filter |
| 11 | 1: 50% new 50% old |
13 | 1: 50% new 50% old |
| 12 | 2: As H&I |
14 | 2: As H&I |
| 13 | 3: Reverse H&I |
15 | 3: Reverse H&I |
| 14 | 16 | ||
| 15 | Userparam7: Yaw I factor. Default 0 (may be nasty to fly!). Recommended: ca. 100. |
17 | Userparam7: Yaw I factor. Default 0 (may be nasty to fly!). Recommended: ca. 100. |
| 16 | 18 | ||
| 17 | Userparam8: Acc integral correction Z axis limit. Default 0 (!) |
19 | Userparam8: Acc integral correction Z axis limit. Default 0 (!) |
| 18 | 20 | ||
| 19 | Other params: |
21 | Other params: |
| 20 | GyroAccFactor = 0'th order integral drift correction - acceleration sensor part as 1/1000s. |
22 | GyroAccFactor = 0'th order integral drift correction - acceleration sensor part as 1/1000s. |
| 21 | Default 5 (ENC-03) |
23 | Default 5 (ENC-03) |
| 22 | GyroAccTrim = -1'th order integral drift correction - |
24 | GyroAccTrim = -1'th order integral drift correction - |
| 23 | Offset corrections are divided by this before added to offsets. Default 2. |
25 | Offset corrections are divided by this before added to offsets. Default 2. |
| 24 | DriftComp = Max offset correction per iteration (=per 1/2 second). |
26 | DriftComp = Max offset correction per iteration (=per 1/2 second). |
| 25 | This limits the value _before_ division by GyroAccTrim. Default 32 (ENC-03) |
27 | This limits the value _before_ division by GyroAccTrim. Default 32 (ENC-03) |
| 26 | 28 | ||
| 27 | Rotary rate limiter flag ON = The gyro signals for flight control are extrapolated with |
29 | Rotary rate limiter flag ON = The gyro signals for flight control are extrapolated with |
| 28 | a sharp rise in "virtual" rotation rates when the gyros are near saturation. This |
30 | a sharp rise in "virtual" rotation rates when the gyros are near saturation. This |
| 29 | prevents (via the flight control) the copter from turning fast enough that the gyros |
31 | prevents (via the flight control) the copter from turning fast enough that the gyros |
| 30 | saturate. Saturation will have the effect that stick controls overwhelm the (now clipped) |
32 | saturate. Saturation will have the effect that stick controls overwhelm the (now clipped) |
| 31 | gyro feedback in the flight control, and the copter flips VERY fast. Saturation is |
33 | gyro feedback in the flight control, and the copter flips VERY fast. Saturation is |
| 32 | normally undesirable but it provides for a very entertaining stunt! |
34 | normally undesirable but it provides for a very entertaining stunt! |
| 33 | The rotary rate limiter (beginner feature to make the copter _very_ irresponsive to |
35 | The rotary rate limiter (beginner feature to make the copter _very_ irresponsive to |
| 34 | stick controls) was removed. |
36 | stick controls) was removed. |