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IMUF 255 (PT3)
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@nerdCopter nerdCopter released this 12 Jun 17:16
255
d639529

IMUF 255 (PT3)

Warning

  • This version will saturate CPU at 32k pidloop. Please use a max of 16k pidloop unless using StrixF10 or Over-clocked HelioSpring.

Recommendation: IMUF 254 (PT2) or IMUF 255 (PT3), depending on aircraft.

Notes

  • PT3 filter rather than BiQuad.
  • Does not over-filter like 900X, 250, & 252.
  • Pilots may revert IMUF LPF's to normal ranges (typically 90-120), depending on the aircraft.
  • Pilots are welcome to use any IMUF versions liked best. New IMUF releases are not requirements. You may even use original HelioRC IMUF if you prefer.
  • Sharpness has no effect on IMUF254 firmware.
  • Some pilots have found 10.67k/10.67k gyro/pid loops to be best overall balance between gyro-noise and flight-control. You may achieve 10.67k loops by CLI command set gyro_sync_denom = 3.
  • Other gyro/pid loops that work well: 32/16, 16/16, 16/8, 8/8, 8/4

Compatibility

  • Any flightware version

Additional Information

Changleog:

  • fix filter cutoffs
  • improve Kalman filter
  • change k calculation to be slightly more static
  • PT3 filter rather than BiQuad
  • non-dynamic gyro LPF
  • removed sharpness
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