CLI COMMANDS

  • set imuf
    • lets you see all the settings related to our IMU-F unit
  • set imuf_pitch_q
  • set imuf_roll_q
  • set imuf_yaw_q
    • Accepted values: 1 – 16000
    • sets the “Q” value of our dynamic Kalman filter running inside imuf. Think of “Q” as “Trust.” The more you “trust” the gyro measurement, the less filtering will be applied.”
    • As of Odn, values are now “elastic”. The defaults (3000) are now baseline values. This will predictably change based on conditions during flight. This results in a much more responsive and connected feel. This also reduces the potential for MTO, and other unwanted flight characteristics, stemming from having Q as a fixed value. This should require less tuning than previously.
  • set imuf_w
    • Accepted values: 6 – 300 (default 32)
    • In Caprica, this was per-axis. Now its combined into 1 setting. This is the amount of data that’s used in determining the automatic Kalman filter tuning. The higher W is the more data is looked at for a determination of filter settings. W@32 is ~1ms of data or 32 samples. W@64 is ~2ms of data or 64 samples.
    • Larger quads 6-8″ will probably fly better with W@64+ and 10″ and above W@128+.
  • set imuf_pitch_lpf_cutoff_hz
  • set imuf_roll_lpf_cutoff_hz
  • set imuf_yaw_lpf_cutoff_hz
    • Accepted values: 1 – 500
    • lets you set the hz frequency cutoff for the internal low-pass filter for the IMUF unit
  • msd
    • reboots the Spring FC into USB mode allowing you to download the Blackbox faster than the GUI.
  • imufupdate
    • updates the IMUF unit after flashing from the latest hex which will be located here

Wiring Plan