User Manual

General Configuration and Safety
Advanced Digital Motor Controller User Manual 299
CLIN - Command Linearity
HexCode: 0D
Description:
This parameter is used for applying an exponential or a logarithmic transformation on the
command input, regardless of its source (serial, pulse or analog). There are 3 exponential
and 3 logarithmic choices. Exponential correction make the commands change less at the
beginning and become stronger at the end of the command input range. The logarithmic
correction will have a stronger effect near the start and lesser effect near the end. The
linear selection causes no change to the input. A linearity transform is also available for all
analog and pulse inputs. Both can be enabled although in most cases, it is best to use the
Command Linearity parameter for modifying command profiles
Syntax Serial: ^CLIN cc nn
~CLIN [cc]
Syntax Scripting: setconfig(_CLIN, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Linearity
Type: Unsigned 8-bit
Min: 0 Max: 7
Default: 0 = Linear
Where:
cc = Motor channel
nn =
0: Linear (no change)
1: Exp weak
2: Exp medium
3: Exp strong
4: Log weak
5: Log medium
6: Log strong
Example:
^CLIN 1 1 : Sets linearity for channel 1 to exponential weak
CPRI - Command Priorities
HexCode: 07
Description:
This parameter contains up to 3 variables (4 on controllers with Spektrum radio support)
and is used to set which type of command the controller will respond in priority and in
which order. The first item is the third priority, the second item is the fourth priority, and
the third item is the fifth priority. The first priority belongs to the script mode and the sec-