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add ins gravity

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JuliooCesarMDM 2021-12-04 20:16:33 -03:00
parent bee6ac200a
commit 19894a5a80
8 changed files with 80 additions and 28 deletions
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10
docs/Settings.md
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@ -2142,6 +2142,16 @@ If defined to 'OFF', it will ignore the gyroscope calibration done at each start
---
### ins_gravity_cmss
Calculated 1G of Acc axis Z to use in INS
| Default | Min | Max |
| --- | --- | --- |
| 0.0 | 0 | 1000 |
---
### iterm_windup
Used to prevent Iterm accumulation on during maneuvers. Iterm will be dampened when motors are reaching it's limit (when requested motor correction range is above percentage specified by this parameter)