{"id":614,"date":"2018-04-18T09:18:14","date_gmt":"2018-04-18T09:18:14","guid":{"rendered":"http:\/\/mitat.tuu.fi\/?p=614"},"modified":"2018-04-19T14:18:58","modified_gmt":"2018-04-19T14:18:58","slug":"betaflight-3-4-filter-parameters","status":"publish","type":"post","link":"http:\/\/mitat.tuu.fi\/?p=614","title":{"rendered":"Betaflight 3.4 filter parameters"},"content":{"rendered":"\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
CLI parameter name<\/strong><\/td>\ndefault value in 3.4<\/strong><\/td>\n<\/td>\n<\/tr>\n
gyro_hardware_lpf<\/td>\nNORMAL<\/td>\nFilter at the gyro (hardware).
\nPreviously called “gyro_lpf”.
\nChoices are NORMAL \/ ADVANCED.
\nNORMAL = Filter starts from ~250Hz at 8kHz.
\nEXPERIMENTAL=…
\nMore info<\/a><\/td>\n<\/tr>\n
gyro_32khz_hardware_lpf<\/td>\nNORMAL<\/td>\n—<\/td>\n<\/tr>\n
gyro_lowpass_hz<\/td>\n90<\/td>\naka “Gyro lowpass 1”.
\nLast in the signal chain for PID (P\/I terms, D has filters\/notches).Suggested<\/a> values for gyro_lowpass_hz: Default \/ Optimal flight performance: 100, Slightly noisy setup: 80,\u00a0 Very noisy: 50Can be replaced <\/a>with gyro_lowpass2_hz (with BIQUAD_RC_FIR2 type)<\/td>\n<\/tr>\n
gyro_lowpass_type<\/td>\nPT1<\/td>\nChoices:PT1, BIQUAD, BUTTERWORTH, BIQUAD_RC_FIR2, FAST_KALMAN<\/td>\n<\/tr>\n
gyro_lowpass_order<\/td>\n1<\/td>\n—<\/td>\n<\/tr>\n
gyro_lowpass2_type<\/td>\nPT1<\/td>\nLowpass 2 is right after hardware filter in the signal chain.<\/td>\n<\/tr>\n
gyro_lowpass2_hz<\/td>\n0<\/td>\n—<\/td>\n<\/tr>\n
gyro_lowpass2_order<\/td>\n1<\/td>\n—<\/td>\n<\/tr>\n
gyro_notch1_hz<\/td>\n400<\/td>\nSuggested to disable<\/td>\n<\/tr>\n
gyro_notch1_cutoff<\/td>\n300<\/td>\n—<\/td>\n<\/tr>\n
gyro_notch2_hz<\/td>\n200<\/td>\nSuggested to disable<\/td>\n<\/tr>\n
gyro_notch2_cutoff<\/td>\n100<\/td>\n—<\/td>\n<\/tr>\n
dterm_lowpass_type<\/td>\nBIQUAD<\/td>\nSuggested<\/a> to change to PT1 if used.
\nLowpass 1 is feeding signal to dterm chain.Note: profile specific<\/strong><\/td>\n<\/tr>\n
dterm_lowpass_hz<\/td>\n100<\/td>\n“Dterm lowpass is always needed. Never remove that! Even on the cleanest setup.”
\nNote: profile specific<\/strong><\/td>\n<\/tr>\n
dterm_lowpass2_hz<\/td>\n0<\/td>\n“Modelling and logging shows significant reductions in higher frequency Dterm noise with only minor additional delay. Having a configurable setpoint allows the user to tune the least filtering that provides adequate noise reduction.The biquad will provide very effective filtering but greater delay.”More info<\/a><\/p>\n

Note: profile specific<\/strong><\/td>\n<\/tr>\n

dterm_notch_hz<\/td>\n260<\/td>\nCan be disabled on clean setups.
\nNote: profile specific<\/strong><\/td>\n<\/tr>\n
dterm_notch_cutoff<\/td>\n160<\/td>\nNote: profile specific<\/strong><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\"betaflight19\"<\/a><\/p>\n

\"\"<\/p>\n","protected":false},"excerpt":{"rendered":"

CLI parameter name default value in 3.4 gyro_hardware_lpf NORMAL Filter at the gyro (hardware). Previously called “gyro_lpf”. Choices are NORMAL \/ ADVANCED. NORMAL = Filter starts from ~250Hz at 8kHz. EXPERIMENTAL=… More info gyro_32khz_hardware_lpf NORMAL — gyro_lowpass_hz 90 aka “Gyro lowpass 1”. Last in the signal chain for PID (P\/I terms, D has filters\/notches).Suggested values […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-614","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"_links":{"self":[{"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=\/wp\/v2\/posts\/614","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=614"}],"version-history":[{"count":39,"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=\/wp\/v2\/posts\/614\/revisions"}],"predecessor-version":[{"id":654,"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=\/wp\/v2\/posts\/614\/revisions\/654"}],"wp:attachment":[{"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=614"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=614"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=614"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}