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User param 4: Throttle stick D value.
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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.
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Userparam 5: Filter control.
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bits 0-1: Gyros 1st order
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bits 0-1: Gyro signal for the flight control PID				(filter constants 1-4)
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bits 2-3: Gyros 2nd order
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bits 2-3: Gyro signal for the attitude angle integration (ATT)	(filter constants 1-4)
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bits 4-5: GyroD (in series with 1st order)
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bits 4-5: GyroD 												(filter constants 1-4)
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bits 6-7: Acc.
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bits 6-7: Acc.													(filter constants 1-4)
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Userparam6: Motor smoothing.
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Userparam6: Motor smoothing.
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0: No filter
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0: No filter
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1: 50% new 50% old
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1: 50% new 50% old
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2: As H&I
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2: As H&I
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3: Reverse H&I
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3: Reverse H&I
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Userparam7: Yaw I factor. Default 0 (may be nasty to fly!)
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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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Userparam8: Acc integral correction Z axis limit. Default 0 (!)
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Other params:
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Other params:
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GyroAccFactor = 0'th order integral drift correction - acceleration sensor part as 1/1000s.
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GyroAccFactor = 0'th order integral drift correction - acceleration sensor part as 1/1000s.
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	Default 5 (ENC-03)
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GyroAccTrim = -1'th order integral drift correction -
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    Offset corrections are divided by this before added to offsets. Default 2.
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DriftComp = Max offset correction per iteration (=per 1/2 second).
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    This limits the value _before_ division by GyroAccTrim. Default 32 (ENC-03)
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	Default 5 (ENC-03)
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GyroAccTrim = -1'th order integral drift correction -
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    Offset corrections are divided by this before added to offsets. Default 2.
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DriftComp = Max offset correction per iteration (=per 1/2 second).
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    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
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	a sharp rise in "virtual" rotation rates when the gyros are near saturation. This
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	prevents (via the flight control) the copter from turning fast enough that the gyros
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	saturate. Saturation will have the effect that stick controls overwhelm the (now clipped)