Subversion Repositories FlightCtrl

Userparam 4: Throttle stick D value. Recommended: 12-15. Good fun to fly with.

Userparam 5: Filter control.
bits 0-1: Gyro signal for the flight control PID                                (filter constants 1-4)
bits 2-3: Gyro signal for the attitude angle integration (ATT)  (filter constants 1-4)
bits 4-5: GyroD                                                                                                 (filter constants 1-4)
bits 6-7: Acc.                                                                                                  (filter constants 1-4)

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!). Recommended: ca. 100.

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 = The gyro signals for flight control are extrapolated with 
        a sharp rise in "virtual" rotation rates when the gyros are near saturation. This
        prevents (via the flight control) the copter from turning fast enough that the gyros
        saturate. Saturation will have the effect that stick controls overwhelm the (now clipped)
        gyro feedback in the flight control, and the copter flips VERY fast. Saturation is
        normally undesirable but it provides for a very entertaining stunt!
    The rotary rate limiter (beginner feature to make the copter _very_ irresponsive to
    stick controls) was removed.