From 6b2b20bd6ecb18eb6d3380449dce1fc75f61ce2d Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 5 Jun 2025 19:22:25 +0200 Subject: [PATCH] imu_gyro_parameters: lower default angular acceleration filter from 30Hz to 20Hz to avoid noise getting into the derivative term of the PID rate control loop on integration flights. --- .../sensors/vehicle_angular_velocity/imu_gyro_parameters.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c b/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c index 10576fb803..2f53e0d779 100644 --- a/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c +++ b/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c @@ -169,7 +169,7 @@ PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 400); * @reboot_required false * @group Sensors */ -PARAM_DEFINE_FLOAT(IMU_DGYRO_CUTOFF, 30.0f); +PARAM_DEFINE_FLOAT(IMU_DGYRO_CUTOFF, 20.0f); /** * IMU gyro dynamic notch filtering