trimming changes after agressive flight

[GoogleCodeExporter]

What steps will reproduce the problem?
1. agressive flight in stable or simple mode
2. you can also do it in ground - land with the trimmed copter but do not power 
off engines. shake your copter a little and lift off again - it has to be 
trimmed a lot of to get same behaviour as before
3.

What is the expected output? What do you see instead?
constant trimming

What version of the product are you using? On what operating system?
2.049 b 5 

Please provide any additional information below.
i dont have any, but if you tell me what is needed, i will come up with 
additional infos

Original issue reported on code.google.com by backbon...@hotmail.com on 16 Jan 2012 at 9:12

[GoogleCodeExporter]

sorry, version was the one called BV_gps_ok  

Original comment by backbon...@hotmail.com on 16 Jan 2012 at 9:23

• Added labels: ****
• Removed labels: ****

[GoogleCodeExporter]

This applies to almost all controllers and is usually caused by two things
1) sensors have a specific limit, if you go over the limit (shake, crash) they 
go crazy sometimes and need reset
2) you induce a large I-term that the IMU will try to correct - should be ok if 
you let it is for a while

Original comment by zviratko...@gmail.com on 18 Jan 2012 at 3:58

• Added labels: ****
• Removed labels: ****