fixes

Readme.md

@@ -1169,4 +1169,30 @@ Try to find encoder count loss
 Gate3[0].EncClockDiv=2
 Gate3[1].EncClockDiv=2
 
+```
+
+Helicalscan setup
+-----------------
+```
+calcParam(
+  x=((-34.05489905551743, 208.10204385266277, -606.4416461908648),
+     (22.139508829306088, 158.83214548238513, -618.6408606756819)),
+  y=(1700.0, 1252.0231362790232),
+  z=((-1200.0, -2000.0000000000005, -1900.0000000000005),
+     (-1200.0, -2000.0000000000005, -1800.0000000000002)))
+
+cpx X0 Z0 B0      Y1700.0
+cpx X0 Z0 B120000 Y1700.0
+cpx X0 Z0 B240000 Y1700.0
+
+cpx X0 Z0 B0      Y1252.0
+cpx X0 Z0 B120000 Y1252.0
+cpx X0 Z0 B240000 Y1252.0
+
+send 1"fwd_inp(%f)  %f %f %f %f\\n",D0,{qCX},{qCZ},{qW},{qFY}
+send 1"fwd_res     %f %f %f %f\\n",{DX},{DZ},{W},{Y}
+send 1"inv_inp(%f) %f %f %f %f\\n",D0,{DX},{DZ},{W},{Y}
+send 1"inv_res    %f %f %f %f\\n",{qCX},{qCZ},{qW},{qFY}
+
+
 ```