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Quaternion-based DCM IMU (original code my S.Madgwick)
Restore binaries from merge
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846b86f489
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21 changed files with 379 additions and 738 deletions
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@ -411,8 +411,8 @@ const clivalue_t valueTable[] = {
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{ "max_angle_inclination", VAR_UINT16 | MASTER_VALUE, &masterConfig.max_angle_inclination, 100, 900 },
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{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, 0, 128 },
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{ "gyro_cmpf_factor", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_cmpf_factor, 100, 1000 },
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{ "gyro_cmpfm_factor", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_cmpfm_factor, 100, 1000 },
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{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp, 0, 20000 },
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{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_ki, 0, 20000 },
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{ "alt_hold_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.alt_hold_deadband, 1, 250 },
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{ "alt_hold_fast_change", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.alt_hold_fast_change, 0, 1 },
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@ -459,7 +459,7 @@ const clivalue_t valueTable[] = {
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#endif
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{ "acc_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.acc_hardware, 0, ACC_MAX },
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{ "acc_lpf_factor", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].acc_lpf_factor, 0, 250 },
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{ "acc_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].acc_cut_hz, 0, 200 },
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{ "accxy_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.xy, 0, 100 },
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{ "accz_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.z, 0, 100 },
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{ "accz_lpf_cutoff", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].accz_lpf_cutoff, 1, 20 },
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