Subversion Repositories FlightCtrl

Userparam 5: Filter control.
bits 0-1: Gyros 1st order
bits 2-3: Gyros 2nd order
bits 4-5: GyroD (in series with 1st order)
bits 6-7: Acc.

Userparam6: Motor smoothing.
0: No filter
1: 50% new 50% old
2: As H&I
3: Reverse H&I

Userparam7: Yaw I factor. Default 0 (may be nasty to fly!)

Userparam8: Acc integral correction Z axis limit. Default 0 (!)


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)

Rotary rate limiter flag ON = dongfang axis coupling used. Otherwise H&I axis coupling
    (with the modification that it does not affect the rate values).
    If axis coupling is off: No effect.
    The rotary rate limiter was removed.