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Experimental biquad RC fitler instead of RC interpolation #3740

merged 3 commits into from Jan 8, 2019


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commented Aug 13, 2018

Current predictive approach to RC interpolation doesn't account for variable RX update frequency and in certain scenarios (end of rapid stick movement) can amplify rcCommand irregularity instead of smoothing it.

Biquad filter gives much better results and effectively eliminates effect known as D-term kick, thus allowing much higher than usual Dterm setpoint weights. This is especially noticeable on low-rate links (like CRSF at the egde of range - 5Hz mode).

@digitalentity digitalentity added this to the 2.1 milestone Aug 13, 2018

@digitalentity digitalentity force-pushed the de_rc_filtering branch from 8071301 to b421f2a Jan 7, 2019

@digitalentity digitalentity force-pushed the de_rc_filtering branch from 8c78368 to 8ceb9c7 Jan 8, 2019

@digitalentity digitalentity merged commit f8de2e6 into development Jan 8, 2019

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@digitalentity digitalentity deleted the de_rc_filtering branch Jan 8, 2019

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