From 197d7cd8394f3173cb41b23e70b4fd9785cfd62b Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Mon, 18 Apr 2022 08:47:40 +0200
Subject: [PATCH] Created Parameters (markdown)

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+Parameters are used in config.h to configure the behavior of the firmware, by enabling/disabling features, or adjust value.
+
+### Battery Management
+For parameters related to Battery Management, please visit following [wiki section](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Battery).
+
+### Input Calibration
+For Parameters related to Input Calibration, please visit following [wiki section](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Input-Calibration).
+
+## Further Input processing
+After the inputs have been mapped to the MIN, MID and MAX value that have been calibrated, following parameters can help adjust the behavior of the firmware.
+
+### Rate limiting
+DEFAULT_RATE parameter is used to limit the rate of change of the inputs in the main loop between 2 loop iterations.<br>
+This helps smooth out the final ouput to the motor control model.<br>
+The default value is 480 in fixed-point, which corresponds to 30 value in single precision.<br>
+
+This means if the input goes from 0 to 300, the firmware will limit the increment to 30 for each loop iteration (5ms)
+| Iteration | Time | Input<br>Value| Limited<br>Value |
+|---|---|---|---|
+|0|0ms|0|0|
+|1|5ms|300|30|
+|2|10ms|300|60|
+|3|15ms|300|90|
+|4|20ms|300|120|
+|5|25ms|300|150|
+|6|30ms|300|180|
+|7|35ms|300|210|
+|8|40ms|300|240|
+|9|45ms|300|270|
+|10|50ms|300|300|
+
+A rate of 32767 in fixed-point means the value can increase/decrease by an increment of 2047, so basically there is no limiting.<br>
+Please don't change this parameter if you don't know what you are doing, this can lead to issues.<br>
+⚠ Don't set the RATE parameter higher than 32767, this corresponds to a Negative Rate in single precision value. 
+
+### Filtering
+DEFAULT_FILTER parameter is used to smooth out (low-pass filter) the output value to the motor control.<br>
+The default value is 6553 in fixed-point, which corresponds to a filter of 0.1 in single precision.<br>
+This means if the input goes from 0 to 300, the output value will be 90% of the previous value + 10% of the new value
+
+| Iteration | Time | Input<br>Value| Filtered<br>Value |
+|---|---|---|---|
+|0|0ms|0|0|
+|1|5ms|300|90% of 0 + 10% of 300 = 30|
+|2|10ms|300|90% of 30 + 10% of 300 = 57|
+|3|15ms|300|90% of 57 + 10% of 300 = 81|
+
+A filter of 65535 in fixed-point, which corresponds to 1 in single precision, means no filter will be applied.<br>
+You can also define parameter FILTER for a specific variant, it will overwrite DEFAULT_FILTER parameter (e.g. NUNCHUK Variant is using a smoother filter of 3276->0.05 ).
+
+