{"action":"created","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1110","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1110/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1110/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1110/events","html_url":"https://github.com/cleanflight/cleanflight/issues/1110","id":94245656,"number":1110,"title":"Derivative Kick from RC input","user":{"login":"borisbstyle","id":10757508,"avatar_url":"https://avatars.githubusercontent.com/u/10757508?v=3","gravatar_id":"","url":"https://api.github.com/users/borisbstyle","html_url":"https://github.com/borisbstyle","followers_url":"https://api.github.com/users/borisbstyle/followers","following_url":"https://api.github.com/users/borisbstyle/following{/other_user}","gists_url":"https://api.github.com/users/borisbstyle/gists{/gist_id}","starred_url":"https://api.github.com/users/borisbstyle/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/borisbstyle/subscriptions","organizations_url":"https://api.github.com/users/borisbstyle/orgs","repos_url":"https://api.github.com/users/borisbstyle/repos","events_url":"https://api.github.com/users/borisbstyle/events{/privacy}","received_events_url":"https://api.github.com/users/borisbstyle/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":28,"created_at":"2015-07-10T08:11:21Z","updated_at":"2015-07-13T22:27:22Z","closed_at":null,"body":"I opened this issue to continue discussing theories about preventing the \"Derivative Kick\" on RcCommand handling from some other PR's.\r\n\r\nThis is what we are talking about. Slower sampling of Rcdata is causing \"infinity\" in derivative. This is even filtered data, which smooths it out a bit already!\r\n![rccommand](https://cloud.githubusercontent.com/assets/10757508/8614616/91c3e51c-26eb-11e5-9fe4-b67cd425eb9f.jpg)\r\n\r\nThis is currently not an issue, rather than a cosmetical thing in my opinion. There are no negative effects in flight, but it would be neater to find a solution where we can smooth it out a bit even if it is preventing ramping a bit to prevent huge rises in D. We don't want to add too much delay preferably\r\n\r\nThere are some challenges in this one. Sampling of rcdata is pretty slow and is not done during each loop. The solution requires smarter sampling approach as the cycletimes are not constant. Too long sampling will cause much delay and too short sampling will still show ramping.\r\n\r\nAlso a question we should ask ourselves is. Do we want to solve this? After all it doesn't affect the flight performance and is pretty much filtered down the road (motor/esc).\r\n\r\nJust a random log from PID1:\r\nhttps://dl.dropboxusercontent.com/u/31537757/cleanflight/blackbox_many_flights.TXT"},"comment":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/comments/121079827","html_url":"https://github.com/cleanflight/cleanflight/issues/1110#issuecomment-121079827","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1110","id":121079827,"user":{"login":"Qopter","id":13316063,"avatar_url":"https://avatars.githubusercontent.com/u/13316063?v=3","gravatar_id":"","url":"https://api.github.com/users/Qopter","html_url":"https://github.com/Qopter","followers_url":"https://api.github.com/users/Qopter/followers","following_url":"https://api.github.com/users/Qopter/following{/other_user}","gists_url":"https://api.github.com/users/Qopter/gists{/gist_id}","starred_url":"https://api.github.com/users/Qopter/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Qopter/subscriptions","organizations_url":"https://api.github.com/users/Qopter/orgs","repos_url":"https://api.github.com/users/Qopter/repos","events_url":"https://api.github.com/users/Qopter/events{/privacy}","received_events_url":"https://api.github.com/users/Qopter/received_events","type":"User","site_admin":false},"created_at":"2015-07-13T22:27:22Z","updated_at":"2015-07-13T22:27:22Z","body":"@borisbstyle\r\nmaxfactor is the number of intermediate steps. The formula is a simple rounding for integer. I limited it to 1200 looptime because my naze32 can not run faster. By now there are faster FCs on the market so you should limit it to a lower value. But you have to prevent for too low values. Set the default to a medium number, for example maxfactor = 16."}}