Great summary, Sir. And yeah, bidirectional dshot RPM data comes right after every motor command, so pretty much every PID loop. Then it's being filtered a little, i think with 150hz pt1, which gives ~1ms latency at frequencies close to zero.
Thanks for putting out these videos, glad to have you working with the BF team on this. Will you update your preset for 4.5? Really like the micro preset.
Actually it's possible to get ESC telemetry much faster than your seeing. It's technically possible to get 8k ESC telemetry. Yes it does have more overhead than bidirectional dshot, but it's possible bf just isn't setup for that.
Hi Mark. I have a doubt that's related with notch filters but is most a build question. My quad war flying well, i tuned it and it was pretty straightforward including filters, just addresed the single noise column of the frame ressonance at 218hz with a notch filter, configured rpm filters, etc. Now I've rotated the stack 180° to get xt60 in the front and replaced the rx with a dual-antenna one that are on both rear arms. Now I got two very clear noise columns on the throttle x frecuency chart at 167hz and 230hz. The lower freq. noise is slighly visible in roll axis, but very strong like the higher freq one in pitch axis. Could it be because of the rx antennas (2.4ghz)?, previously I had just one on rear righr arm. Battery lead is alse secured with zip ties and connector tighted in the battery straps. Thanks!
INAV is pathetic on so many levels. One would say that is would be superior in tasks like RTH, land and disarm. The recent tests of INAV 7.x show that after many years the colision / land detection in INAV is still inferior and that it hapilly fry your motors being upside down at the ground. The BF's rescue mode does much better job here.
so it turns out that if the frame has no resonant noise, then in theory you can leave only RPM filters and an antialiasing filter for 8/4 kHz, an F4 processor, 10-12 inch propellers, 3115 motors. Am I right? for maximum delay reduction?
@@uavtech and what filters are needed at a minimum to have a minimum delay.. RPM.. and what else?.. I'm talking about Halfy and do you have a video?, so that we can understand which filter gives what delay and which filter can be omitted. to have a minimum..
@@user-fe9oq3yd9o lowpass filters have the least bang for the buck. So try to move those up or turn them off. Even if you need to keep the Dyn Notch enabled and a higher notch count. If it lets you move up the lowpass filters, that is the best approach. I have a filter calc tool at tiny.cc/uavtech if you want to see the delay/filter strength for each of the filter types.
