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| Parameter | Description |
|---|---|
| H0 | H0 is an overall gain on the controller. This is set to 100% by default. It will affect the following gains H4_CONTROLLER = H4 * H0 / 128 H0 is commonly used to detune the controller as a whole. |
| H1 | H1 does not have any specific function. Changing H1 will have little effect and should not be changed |
| H2 | H2 does not have any specific function. Changing H2 will have little effect and should not be changed |
| H3 | H3 is a filter in the control system. Increasing H3 will stiffen the controller increasing response time. |
| H4 | H4 acts most similar to a proportional gain |
| H5 | H5 acts most similar to a differential gain |
| H6 | H6 acts most similar to an integral gain |
| H7 | H7 is a filter on the control system. Increasing H7 will make the controller sluggish. It gives me the effect of making the system feel more "spongy". |
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