VESC Tool Parameters

file	parameter	suffix	min	max	default	name	description
app	app_adc_conf.buttons				Enable Cruise Control	Button Inputs	A cruise control and a reverse button can be used with the ADC app. The reverse button is only used on the control modes that have button in their name, but cruise control can be used on all control modes when enabled. The buttons can be connected as follows: Comm TX: Cruise Control Comm RX: Reverse If the UART app is active the PPM-input is used for the button instead. That means you only have one button, which will be the reverse button for the button-modes (not cruise control available) or cruise control for non-button control modes. By default the button inputs have a pull-up resistor and are active low. Enable Cruise Control Enable cruise control button input. Invert CC Button Invert the polarity of the cruise control button. Invert Reverse Button Invert the polarity of the reverse button.
app	app_adc_conf.ctrl_type				Current No Reverse Brake ADC2	Control Type	Off The output is switched off regardless of the input. Current Current control. The output is off when the input is at minimum. Current Reverse Center Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it it starts in the reverse direction. Current Reverse Button Current control with a button for reversing the throttle. The output is off when the input is at minimum. Current Reverse ADC2 Brake Button Current control with a button for reversing the throttle. The output is off when the input is at minimum. The second ADC channel acs as a brake. ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_CENTER Current control with a button for reversing throttle. The output is off when the input is centered. Input less than center brakes until the motor stops, but not further. Current No Reverse Brake Center Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, but not further. Current No Reverse Brake Button Current control with a button for turning the throttle into a brake. The output is off when the input is at minimum. Current No Reverse Brake ADC2 Current control with one separate throttle connected to ADC2 for braking. Duty Cycle Duty cycle control. The output is off when the input is at minimum. Duty Cycle Reverse Center Current control. The output is off when the input is centered. Input less than center gives negative duty cycle. Duty Cycle Reverse Button Duty cycle control with a button on UART RX for inverting the throttle. The output is off when the input is at minimum. PID Speed PID speed control. The speed setpoint is mapped between 0 and the configured maximum motor speed limit. PID Speed Reverse Center PID speed control. The output is mapped between the minimum and maximum motor speed limits. Throttle center corresponds to 0 speed. PID Speed Reverse Button PID speed control with a button for reversing the throttle. The speed setpoint is mapped between 0 and the configured maximum motor speed limit, or between 0 and the minimum motor speed limit when the UART RX input is high.
app	app_adc_conf.hyst	%	0	1	0.05	Input Deadband	Deadband region for the input.
app	app_adc_conf.multi_esc				1	Multiple VESCs Over CAN	Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.
app	app_adc_conf.ramp_time_neg	s	0	1000	0.1	Negative Ramping Time	Negative ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.
app	app_adc_conf.ramp_time_pos	s	0	1000	0.3	Positive Ramping Time	Positive ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.
app	app_adc_conf.safe_start				Regular	Safe Start	Prevent motor from starting in some unsafe conditions. Modes: Disabled Motor can always start. Regular Only allow starting the motor when the input has beed zero for long enough after boot, after configuration updates and after faults. No Faults Same as regular, but the motor can start directly after fault codes are cleared.
app	app_adc_conf.tc				0	Traction Control	Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.
app	app_adc_conf.tc_max_diff		0	100000	3000	TC Max ERPM Difference	The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.
app	app_adc_conf.throttle_exp		-5	5	-0.5	Throttle Expo	Exponential gain for the throttle. Zero (0) Linear throttle Negative (<0) The throttle is softer close to 0 and increases exponentially towards full throttle. Positive (>0) The throttle reacts fast around 0 and decreases exponentially towards full throttle. Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.
app	app_adc_conf.throttle_exp_brake		-5	5	0	Throttle Expo Brake	Exponential gain for the throttle. Zero (0) Linear throttle Negative (<0) The throttle is softer close to 0 and increases exponentially towards full throttle. Positive (>0) The throttle reacts fast around 0 and decreases exponentially towards full throttle. Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.
app	app_adc_conf.throttle_exp_mode				Polynomial	Throttle Expo Mode	The throttle curve mode. Exponential y = x^(1 + c) Natural y = (e^(cx) - 1) / (e^c - 1) Polynomial y = x / (1 + c(1 - x)) where y: output x: input c: curve The curve parameter, offsets and signs are mapped accordingly for each mode.
app	app_adc_conf.update_rate_hz	Hz	0	100000	500	Update Rate	Rate at which the input is sampled.
app	app_adc_conf.use_filter				1	Use Filter	Use a low-pass filter to reject noise. This will introduce a slight delay.
app	app_adc_conf.voltage2_end	V	0	3.3	2	ADC2 End Voltage	Input voltage at the end of the throttle range for ADC2. Can be checked by enabling display and giving the maximum input. If Control Type is set to off while doing that the motor won't turn.
app	app_adc_conf.voltage2_inverted				1	Invert ADC2 Voltage	Invert the voltage from ADC2.
app	app_adc_conf.voltage2_start	V	0	3.3	0	ADC2 Start Voltage	Input voltage at the start of the throttle range for ADC2. Can be checked by enabling display and giving the minimum input. If Control Type is set to off while doing that the motor won't turn.
app	app_adc_conf.voltage_center	V	0	3.3	0.6	ADC1 Center Voltage	Input voltage at the center of the throttle range for ADC1. Can be checked by enabling display and centering the input. If Control Type is set to off while doing that the motor won't turn. Notice that this parameter only is used for the contered control types. For the other types the voltage will always be mapped linearly between start and end.
app	app_adc_conf.voltage_end	V	0	3.3	2.54	ADC1 End Voltage	Input voltage at the end of the throttle range for ADC1. Can be checked by enabling display and giving the maximum input. If Control Type is set to off while doing that the motor won't turn.
app	app_adc_conf.voltage_inverted				0	Invert ADC1 Voltage	Invert the voltage from ADC1.
app	app_adc_conf.voltage_max	V	0	3.6	3.6	ADC1 Abs Max Voltage	Maximum valid voltage on ADC1. If the voltage is above this value the motor will be stopped and if safe start is activated the throttle must be returned to 0 before the motor is allowed to run again.
app	app_adc_conf.voltage_min	V	0	3.3	0	ADC1 Abs Min Voltage	Minimum valid voltage on ADC1. If the voltage is below this value the motor will be stopped and if safe start is activated the throttle must be returned to 0 before the motor is allowed to run again.
app	app_adc_conf.voltage_start	V	0	3.3	0.6	ADC1 Start Voltage	Input voltage at the start of the throttle range for ADC1. Can be checked by enabling display and giving the minimum input. If Control Type is set to off while doing that the motor won't turn.
app	app_chuk_conf.ctrl_type				Current	Control Type	Off The output is switched off regardless of the input. Current Current control. The output is off when the joystick is centered. Positive input gives acceleration and negative input braking. To go reverse the Z button can be used to toggle direction. Current No Reverse Current control. The output is off when the joystick is centered. Positive input gives acceleration and negative input braking. The reverse function of the Z button is disabled. Current Bidirectional Current control. The output is off when the joystick is centered. Positive input always gives forward current and negative current always gives reverse current. This means that when current is applied through 0 speed, the motor will accelerate in the other direction.
app	app_chuk_conf.hyst	%	0	1	0.15	Input Deadband	Deadband region for the input.
app	app_chuk_conf.multi_esc				1	Multiple VESCs Over CAN	Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.
app	app_chuk_conf.ramp_time_neg	s	0	1000	0.2	Negative Ramping Time	Negative ramping time constant. This filters the joystick input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.
app	app_chuk_conf.ramp_time_pos	s	0	1000	0.4	Positive Ramping Time	Positive ramping time constant. This filters the joystick input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.
app	app_chuk_conf.smart_rev_max_duty		0	1	0.07	Smart Reverse Max Duty Cycle	Maximum duty cycle to use in smart reverse mode.
app	app_chuk_conf.smart_rev_ramp_time	s	0	100	3	Smart Reverse Ramp Time	Time to ramp to maximum duty cycle in smart reverse mode.
app	app_chuk_conf.stick_erpm_per_s_in_cc		0	1e+06	3000	ERPM Per Second Cruise Control	The amount of ERPM per second the setpoint changes when giving full joystick input with criuse control activated.
app	app_chuk_conf.tc				0	Traction Control	Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.
app	app_chuk_conf.tc_max_diff		0	100000	3000	TC Max ERPM Difference	The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.
app	app_chuk_conf.throttle_exp		-5	5	0	Throttle Expo	Exponential gain for the throttle. Zero (0) Linear throttle Negative (<0) The throttle is softer close to 0 and increases exponentially towards full throttle. Positive (>0) The throttle reacts fast around 0 and decreases exponentially towards full throttle. Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.
app	app_chuk_conf.throttle_exp_brake		-5	5	0	Throttle Expo Brake	Exponential gain for the throttle. Zero (0) Linear throttle Negative (<0) The throttle is softer close to 0 and increases exponentially towards full throttle. Positive (>0) The throttle reacts fast around 0 and decreases exponentially towards full throttle. Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.
app	app_chuk_conf.throttle_exp_mode				Polynomial	Throttle Expo Mode	The throttle curve mode. Exponential y = x^(1 + c) Natural y = (e^(cx) - 1) / (e^c - 1) Polynomial y = x / (1 + c(1 - x)) where y: output x: input c: curve The curve parameter, offsets and signs are mapped accordingly for each mode.
app	app_chuk_conf.use_smart_rev				1	Use Smart Reverse	Use smart reverse function. If enabled, holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced. This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated.
app	app_nrf_conf.address__0		0	255	198	Address 0	Address byte 0.
app	app_nrf_conf.address__1		0	255	199	Address 1	Address byte 1.
app	app_nrf_conf.address__2		0	255	0	Address 2	Address byte 2.
app	app_nrf_conf.channel		0	125	76	Radio Channel	Radio channel.
app	app_nrf_conf.crc_type				1 Byte	CRC	CRC checksum type.
app	app_nrf_conf.power				0 dBm	TX Power	Transmit power or power off setting.
app	app_nrf_conf.retries		0	15	3	Retries	Maximum number of retries when no ack is received before giving up on the current packet.
app	app_nrf_conf.retry_delay				250 µS	Retry Delay	Delay between retries when no ack is received. If the speed is lower than 2MBit, at least 500 µS should be used.
app	app_nrf_conf.send_crc_ack				1	Send ACK	Send ACK when valid packets are received.
app	app_nrf_conf.speed				1 MBit/s	Speed	The air bit rate.
app	app_pas_conf.ctrl_type				Cadence	Control Type	Off The output is switched off regardless of the input. Cadence Cadence control. The output is proportional to the pedalling speed, off when there is no pedalling. Constant Torque Constant Torque control. Pedalling provides constant output, off when no pedalling. Suited for gearless setup.
app	app_pas_conf.current_scaling		0	1	0.08	PAS Max Current	Maximum PAS output current will be limited to this percentage of the global output current.
app	app_pas_conf.invert_pedal_direction				0	Invert Pedal Direction	Inverts pedal direction
app	app_pas_conf.magnets		6	128	24	Sensor Magnets	How many magnets the PAS sensor assembly has. 24 magnets would provide 24 pulses per pedal revolution. 12 and 24 magnet setups are typical.
app	app_pas_conf.pedal_rpm_end		1	300	120	Pedal RPM End	Pedal RPM at which the assist stops increasing. Above this pedal speed the assist output will stay at its maximum.
app	app_pas_conf.pedal_rpm_start		1	200	10	Pedal RPM Start	Pedal RPM at which the assist starts. Below this value the output current is zero.
app	app_pas_conf.ramp_time_neg	s	0.2	5	0.2	Negative Ramping Time	Negative ramping time constant. This filters the PAS input with ramping and represents the amount of secods it takes to ramp from full to zero output.
app	app_pas_conf.ramp_time_pos	s	0.2	5	0.3	Positive Ramping Time	Positive ramping time constant. This filters the PAS input with ramping and represents the amount of secods it takes to ramp from zero to full output.
app	app_pas_conf.sensor_type				Q	Sensor Type	Quadrature This interface provides 2 signals that can be decoded to know the pedalling direction (forward of backwards).
app	app_pas_conf.update_rate_hz	Hz	10	1000	500	Update Rate	Frequency at which the PAS control loop is executed
app	app_pas_conf.use_filter				1	Use Filter	Use a low pass filter in the PAS input signal
app	app_ppm_conf.ctrl_type				Off	Control Type	Off The output is switched off regardless of the input. Current Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it starts in the reverse direction. Current No Reverse Current control. The output is off when the input is at minimum. Current No Reverse With Brake Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, but not further. Duty Cycle Current control. The output is off when the input is centered. Input less than center gives negative duty cycle. Duty Cycle No Reverse Duty cycle control. The output is off when the input is at minimum. PID Speed Control PID speed control. The output is off when the input is centered. Input less than center gives negative set speed. PID Speed Control No Reverse Duty cycle control. The output is off when the input is at minimum. Current Hyst Reverse With Brake Current Hyst Reverse With Brake. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it starts in the reverse direction, but if Max dir switch ERPM is enabled it will stop the reverse when it reaches the Max ERPM for direction switch. Current Smart Reverse Similar to the Current No Reverse With Brake mode, but holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced. This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated. PID Position Control: 180° Maps servo input to (-180° <> +180°) rotation. Remote should center at “Pulselegth Center” value. Motor will rotate ±180° from the starting position. PID Position Control: 360°Maps servo input to (+0 <> +360°) rotation. Remote should center at “Pulselegth Start” value.Motor will rotate up to +360° from the starting position. It will only rotate in the "positive" direction from the starting position. PID Position Control notes:Servo like position control of motor. Works best with an encoder, but can work with HFI. Angle division: To get multiple turns of the motor for full stick movement, adjust: “Motor Settings” -> “PID Controllers” -> “Position Angle Division” to greater than 1. For setups with angle division > 1, you will need to “home” your motor manually to the right “zero” rotation before power on. To get less than 1 full turn, set “Position Angle Division” to less than 1. Starting position: To adjust the starting position of the motor, adjust: “Motor Settings” -> “PID Controllers” -> “Position PID Offset Angle”. This will change the zero angle AFTER the angle division has been applied. To change the angle by 90° with an angle division of 2, this should be 45°. Safe Start: Safe start still works with PID Position Control, with an additional safety step. To start the motor with Safe Start, you must: Set ppm to your “center” value: “Pulselegth Center” for 180 mode. “Pulselegth Start” for 360 mode. Note: disabling "Safe Start" will eliminate this step but not the second step. Bring your commanded angle close to the actual motor angle. This can be done by sweeping the stick the full range until the motor starts tracking. This is done to prevent a rapid movement at start to a far off commanded pid angle.
app	app_ppm_conf.hyst	%	0	1	0.15	Input Deadband	Deadband region for the input.
app	app_ppm_conf.max_erpm_for_dir		0	30000	4000	Max ERPM for direction switch	The Max ERPM where the direction can be switched to reverse by braking 2 times.
app	app_ppm_conf.median_filter				1	Median Filter	Use a median filter on the decoded pulses. Will delay the signal slightly, but rejects outliers caused by noise.
app	app_ppm_conf.multi_esc				1	Multiple VESCs Over CAN	Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.
app	app_ppm_conf.pid_max_erpm		0	1e+06	15000	PID Max ERPM	The ERPM setpoint corresponding to max input when using PID Speed Control.
app	app_ppm_conf.pulse_center	ms	0	100	1.5	Pulselength Center	The PPM input in milliseconds at which the throttle is centered. Can be checked by enabling display and leaving the throttle centered. This setting has no effect in control modes where the output is not off when the stick is centered.
app	app_ppm_conf.pulse_end	ms	0	100	2	Pulselength End	The longest pulse length for the PPM input in milliseconds. Can be checked by enabling display and giving the maximum input.
app	app_ppm_conf.pulse_start	ms	0	100	1	Pulselength Start	The shortest pulse length for the PPM input in milliseconds. Can be checked by enabling display and giving the minimum input.
app	app_ppm_conf.ramp_time_neg	s	0	1000	0.2	Negative Ramping Time	Negative ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.
app	app_ppm_conf.ramp_time_pos	s	0	1000	0.4	Positive Ramping Time	Positive ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.
app	app_ppm_conf.safe_start				Regular	Safe Start	Prevent motor from starting in some unsafe conditions. Modes: Disabled Motor can always start. Regular Only allow starting the motor when the input has beed zero for long enough after boot, after configuration updates and after faults. No Faults Same as regular, but the motor can start directly after fault codes are cleared.
app	app_ppm_conf.smart_rev_max_duty		0	1	0.07	Smart Reverse Max Duty Cycle	Maximum duty cycle to use in smart reverse mode.
app	app_ppm_conf.smart_rev_ramp_time	s	0	100	3	Smart Reverse Ramp Time	Time to ramp to maximum duty cycle in smart reverse mode.
app	app_ppm_conf.tc				0	Traction Control	Enable traction control between multiple VESCs connected over CAN-bus. This is only used for current control modes.
app	app_ppm_conf.tc_max_diff		0	100000	3000	TC Max ERPM Difference	The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.
app	app_ppm_conf.throttle_exp		-5	5	0	Throttle Expo	Exponential gain for the throttle. Zero (0) Linear throttle Negative (<0) The throttle is softer close to 0 and increases exponentially towards full throttle. Positive (>0) The throttle reacts fast around 0 and decreases exponentially towards full throttle. Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.
app	app_ppm_conf.throttle_exp_brake		-5	5	0	Throttle Expo Brake	Exponential gain for the throttle. Zero (0) Linear throttle Negative (<0) The throttle is softer close to 0 and increases exponentially towards full throttle. Positive (>0) The throttle reacts fast around 0 and decreases exponentially towards full throttle. Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.
app	app_ppm_conf.throttle_exp_mode				Polynomial	Throttle Expo Mode	The throttle curve mode. Exponential y = x^(1 + c) Natural y = (e^(cx) - 1) / (e^c - 1) Polynomial y = x / (1 + c(1 - x)) where y: output x: input c: curve The curve parameter, offsets and signs are mapped accordingly for each mode.
app	app_to_use				UART	APP to Use	The APP to use. With multiple VESC connected over CAN only the master needs to have an app to use set up. Notice that using the NRF nunchuk needs the NRF app.
app	app_uart_baudrate	bps	0	20000000	115200	Baudrate	UART Baudrate.
app	can_baud_rate				CAN_BAUD_500K	CAN Baud Rate	The baud rate of the CAN-Bus. Note that all devices on the bus must have the same baud rate.
app	can_mode				VESC	CAN Mode	CAN-bus mode. VESC Default VESC CAN-bus. Required for CAN forwarding and configuring multiple VESCs using VESC Tool. UAVCAN Basic implementation of UAVCAN. Currently needs some work. Comm Brigde Bridge CAN-bus to commands. Useful for using the VESC and VESC Tool as a generic CAN interface and debugger. Unused CAN-frames are not processed at all and just ignored. Custom applications and scripts can still process CAN-frames. This is very similar to Comm Bridge, but the received frames are not forwarded using commands.
app	can_status_msgs_r1				Status 1	Can Messages Rate 1	Select which CAN status messages are sent are status rate 1. The messages contain: Status 1: RPM Current Duty Cucle Status 2: Ah Used Ah Charged Status 3: Wh Used Wh Charged Status 4: Temp FET Temp Motor Current In PID-position Now Status 5: Voltage In Tachometer Status 6: ADC1 ADC2 ADC3 PPM
app	can_status_msgs_r2				Status 1	Can Messages Rate 2	Select which CAN status messages are sent are status rate 2. The messages contain: Status 1: RPM Current Duty Cucle Status 2: Ah Used Ah Charged Status 3: Wh Used Wh Charged Status 4: Temp FET Temp Motor Current In PID-position Now Status 5: Voltage In Tachometer Status 6: ADC1 ADC2 ADC3 PPM
app	can_status_rate_1	Hz	0	10000	50	Can Status Rate 1	Rate 1 at which CAN status messages are sent on the CAN-bus.
app	can_status_rate_2	Hz	0	10000	5	Can Status Rate 2	Rate 2 at which CAN status messages are sent on the CAN-bus.
app	controller_id		0	255	74	VESC ID	VESC ID. Used to identify this VESC on the CAN-bus.
app	imu_conf.accel_confidence_decay		0	999	1	Accelerometer Confidence Decay	This factor sets how fast the accelerometer confidence will be decreased if the acceleration vector differs from 1.0.
app	imu_conf.accel_lowpass_filter_x	Hz	0	1000	0	Accel lowpass filter X	Accelerometer lowpass filter Biquad lowpass filter applied to X axis. This is run on the ESC and will be applied regardless of IMU model. Setting the filter to 0Hz will disable it.
app	imu_conf.accel_lowpass_filter_y	Hz	0	1000	0	Accel lowpass filter Y	Accelerometer lowpass filter Biquad lowpass filter applied to Y axis. This is run on the ESC and will be applied regardless of IMU model. Setting the filter to 0Hz will disable it.
app	imu_conf.accel_lowpass_filter_z	Hz	0	1000	0	Accel lowpass filter Z	Accelerometer lowpass filter Biquad lowpass filter applied to Z axis. This is run on the ESC and will be applied regardless of IMU model. Setting the filter to 0Hz will disable it.
app	imu_conf.accel_offsets__0	G	-16	16	0	Accel Offset X	Accelerometer offset X.
app	imu_conf.accel_offsets__1	G	-16	16	0	Accel Offset Y	Accelerometer offset Y.
app	imu_conf.accel_offsets__2	G	-16	16	0	Accel Offset Z	Accelerometer offset Z.
app	imu_conf.filter				IMU_FILTER_LOW	Accel/Gyro Filter	Set the onboard accel/gyro filters.
app	imu_conf.gyro_lowpass_filter	Hz	0	1000	0	Gyro lowpass filter	Gyrosocpe lowpass filter Biquad lowpass filter applied to all 3 axes of the gyroscope. This is run on the ESC and will be applied regardless of IMU model. Setting the filter to 0Hz will disable it.
app	imu_conf.gyro_offsets__0	°/s	-1000	1000	0	Gyro Offset X	Gyro offset (drift) X.
app	imu_conf.gyro_offsets__1	°/s	-1000	1000	0	Gyro Offset Y	Gyro offset (drift) Y.
app	imu_conf.gyro_offsets__2	°/s	-1000	1000	0	Gyro Offset Z	Gyro offset (drift) Z.
app	imu_conf.madgwick_beta		0	999	0.1	Madgwick Beta	Beta for Madgwick filter. Decides how much the accelerometer is used for attitude estimation. Increasing this value helps against gyro offsets, but makes the output noisier.
app	imu_conf.mahony_ki		0	999	0	Mahony KI	KI for Mahony filter. Integrates gyro offsets over time.