IMUF 256 with PT(n)

IMUF 256 with PT(n)

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 256.

• Same technology as IMUF 254 (PT2) or IMUF 255 (PT3), except pilot-configurable PT order.

How-To

• EmuFlight 0.4.0+ will use set imuf_ptn_order = 1,2,3,4.
• Older version may use set imuf_sharpness = 1,2,3,4. All other values will default to 3.

Notes

• PT filter rather than BiQuad.
• Does not over-filter like 900X, 250, & 252.
• Pilots may set 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.
• 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

• Use the IMUF Flasher Tool for Flashing: https://github.com/emuflight/Nemesis/releases/tag/imuf-flasher-0.1.0

Changleog:

• Pilot configurable PT filter order

Example noise profiles from @Andrey with his personal preference as PT2:

PT1:

PT2:

PT3:

PT4: