{"action":"created","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028/events","html_url":"https://github.com/cleanflight/cleanflight/pull/1028","id":89410467,"number":1028,"title":"Selective Software Filtering (Gyro, Dterm, Pterm)","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":260,"created_at":"2015-06-18T22:15:42Z","updated_at":"2015-06-28T14:51:44Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/cleanflight/cleanflight/pulls/1028","html_url":"https://github.com/cleanflight/cleanflight/pull/1028","diff_url":"https://github.com/cleanflight/cleanflight/pull/1028.diff","patch_url":"https://github.com/cleanflight/cleanflight/pull/1028.patch"},"body":"It is finalization on my previous PR's. This time code is better to understand and reuse on all PID controllers. Also the main_cut_hz has been renamed to dterm_cut_hz, which is more suitable. Nobody knows what main_cut_hz is.\r\nThere is no impact at all on PID controller 0-4 by default. Harakiri PID controller already had a hardcoded filter of 12, but that one is now disabled by default to keep the same variable in all PID controllers.\r\nAbility to separately control filters should make tuning much easier. I recommend to disable MPU60xx filtering when trying these profile based filters.\r\n\r\nnew introduced filters:\r\ndterm_cut_hz\r\npterm_cut_hz\r\ngyro_cut_hz\r\nacc_cut_hz <<< removed due to already heavily filtering. Doesn't seem an improvement at all\r\n\r\nhttps://github.com/cleanflight/cleanflight/pull/1016\r\nhttps://github.com/cleanflight/cleanflight/pull/1007\r\n\r\nFor those who can't compile for testing:\r\n\r\nNAZE32:\r\nhttps://dl.dropboxusercontent.com/u/31537757/cleanflight/cleanflight_NAZE.hex\r\n\r\nSPRACINGF3:\r\nhttps://dl.dropboxusercontent.com/u/31537757/cleanflight/cleanflight_SPRACINGF3.hex\r\n\r\nCC3D:\r\nhttps://dl.dropboxusercontent.com/u/31537757/cleanflight/cleanflight_CC3D.bin\r\n"},"comment":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/comments/116288394","html_url":"https://github.com/cleanflight/cleanflight/pull/1028#issuecomment-116288394","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028","id":116288394,"user":{"login":"Arakon","id":12016360,"avatar_url":"https://avatars.githubusercontent.com/u/12016360?v=3","gravatar_id":"","url":"https://api.github.com/users/Arakon","html_url":"https://github.com/Arakon","followers_url":"https://api.github.com/users/Arakon/followers","following_url":"https://api.github.com/users/Arakon/following{/other_user}","gists_url":"https://api.github.com/users/Arakon/gists{/gist_id}","starred_url":"https://api.github.com/users/Arakon/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Arakon/subscriptions","organizations_url":"https://api.github.com/users/Arakon/orgs","repos_url":"https://api.github.com/users/Arakon/repos","events_url":"https://api.github.com/users/Arakon/events{/privacy}","received_events_url":"https://api.github.com/users/Arakon/received_events","type":"User","site_admin":false},"created_at":"2015-06-28T14:51:44Z","updated_at":"2015-06-28T14:51:44Z","body":"Didn't notice any major difference with less D, but in hover, it seems fairly calm anyways. I actually have 3 motors that cause more noise and one that causes less, but none of it is frame shaking strong. Oddly, these are high quality Tiger motors.. they shouldn't be crazy out of whack. \r\nHowever, the mid-throttle vibration issue seems to be caused by BLHeli.. I've seen multiple reports of BLHeli causing some motors to vibrate strongly around 1500 us.\r\nThe in-room tests were done in horizon..much too easy to wreck something in my fairly small room in acro."}}