Port of FIR2 second stage gyro filter from Betaflight #3191
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Not happy with current results, plus found a bug. But did not smoked the motors, so it's not that bad after all |
DzikuVx
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Ready to merge
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Testing Required
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Flight tested again after fixes. Quite happy with results. Disabled by default so I assume we can merge it back. Ultimately this might replace Notches and make tuning much simpler |
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Not sure if it will replace notches - they are better in cutting out a relatively narrow band noise. |
digitalentity
approved these changes
May 12, 2018
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Perhaps, but it does nice job
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Port of famous Stage2 FIR (not) Kalman from Betaflight. I'm not completely sure I got dT right since BF and us use different things in filters, but will test over the weekend in my racer