{"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":"closed","locked":false,"assignee":null,"milestone":null,"comments":310,"created_at":"2015-06-18T22:15:42Z","updated_at":"2015-06-30T16:28:15Z","closed_at":"2015-06-29T15:00:49Z","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/117245726","html_url":"https://github.com/cleanflight/cleanflight/pull/1028#issuecomment-117245726","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028","id":117245726,"user":{"login":"Ben250","id":12297218,"avatar_url":"https://avatars.githubusercontent.com/u/12297218?v=3","gravatar_id":"","url":"https://api.github.com/users/Ben250","html_url":"https://github.com/Ben250","followers_url":"https://api.github.com/users/Ben250/followers","following_url":"https://api.github.com/users/Ben250/following{/other_user}","gists_url":"https://api.github.com/users/Ben250/gists{/gist_id}","starred_url":"https://api.github.com/users/Ben250/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Ben250/subscriptions","organizations_url":"https://api.github.com/users/Ben250/orgs","repos_url":"https://api.github.com/users/Ben250/repos","events_url":"https://api.github.com/users/Ben250/events{/privacy}","received_events_url":"https://api.github.com/users/Ben250/received_events","type":"User","site_admin":false},"created_at":"2015-06-30T16:28:15Z","updated_at":"2015-06-30T16:28:15Z","body":"Hi guys,\r\n\r\nJust got back from flying on todays CI build. Using dterm_cut_hz = 14, pterm_cut_hz = 50, gyro_cut_hz = 100 and gyro_lpf = 188 on a SPRF3 with the looptime at 1200. 2 lipos on PC2 (what I'm used to) and then a couple with PC1. Lots of wind but it did feel very smooth. PC1 maybe felt smoother but certainly felt slower and like I needed to up the rates so maybe that contributed to the smooth feel.\r\n\r\nI've uploaded my BB logs in case anyone would like to offer and tuning advice! Pretty sure the first flight log is in horizon mode and the 2nd in acro. I don't really know what I'm looking for but the motor and gyro graphs look a lot smoother to me than before 1028...\r\n\r\n![blackbox_log_2015-06-30_161515 txt](https://cloud.githubusercontent.com/assets/12297218/8435949/861c036c-1f4c-11e5-8a5d-0c30860fdfe0.jpg)\r\n\r\nThanks a lot to borisb and everyone else contributing to this PR and CF!\r\n"}}