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1 | <imuconfiguration eepromVersion="1" length="12" name="ENC-03/FC1.3"> |
1 | <imuconfiguration eepromVersion="0" length="11" name="ENC-03/FC1.3"> |
2 | <parameter name="gyroQuadrant" value="0" /> |
2 | <parameter name="gyroQuadrant" value="0" /> |
3 | <parameter name="accQuadrant" value="4" /> |
3 | <parameter name="accQuadrant" value="4" /> |
4 | <parameter name="imuReversedFlags"> |
4 | <parameter name="imuReversedFlags"> |
5 | <bit name="IMU_REVERSE_GYRO_PR" value="0" /> |
5 | <bit name="IMU_REVERSE_GYRO_PR" value="0" /> |
6 | <bit name="IMU_REVERSE_GYRO_YAW" value="0" /> |
6 | <bit name="IMU_REVERSE_GYRO_YAW" value="1" /> |
7 | <bit name="IMU_REVERSE_ACC_XY" value="1" /> |
7 | <bit name="IMU_REVERSE_ACC_XY" value="1" /> |
8 | <bit name="IMU_REVERSE_ACC_Z" value="0" /> |
8 | <bit name="IMU_REVERSE_ACC_Z" value="0" /> |
9 | <bit name="Unused" value="0" /> |
9 | <bit name="Unused" value="0" /> |
10 | <bit name="Unused" value="0" /> |
10 | <bit name="Unused" value="0" /> |
11 | <bit name="Unused" value="0" /> |
11 | <bit name="Unused" value="0" /> |
12 | <bit name="Unused" value="0" /> |
12 | <bit name="Unused" value="0" /> |
13 | </parameter> |
13 | </parameter> |
Line 14... | Line 14... | ||
14 | 14 | ||
15 | <parameter name="gyroPIDFilterConstant" value="1" /> |
15 | <parameter name="gyroPIDFilterConstant" value="1" /> |
16 | <parameter name="gyroDWindowLength" value="8" /> |
- | |
17 | <parameter name="gyroDFilterConstant" value="0" /> |
16 | <parameter name="gyroDWindowLength" value="8" /> |
Line 18... | Line 17... | ||
18 | <parameter name="accFilterConstant" value="15" /> |
17 | <parameter name="accFilterConstant" value="15" /> |
19 | 18 | ||
20 | <parameter name="zerothOrderCorrection" value="10" /> |
19 | <parameter name="zerothOrderCorrection" value="80" /> |
Line 21... | Line 20... | ||
21 | <parameter name="rateTolerance" value="100" /> |
20 | <parameter name="rateTolerance" value="240" /> |
22 | <parameter name="gyroActivityDamping" value="64" /> |
21 | <parameter name="gyroActivityDamping" value="64" /> |
23 | 22 | ||
24 | <parameter name="driftCompDivider" value="2" /> |
23 | <parameter name="driftCompDivider" value="2" /> |