Math is not really a problem. Problem is with understanding the basics instead of repeating blindly what someone recorded in the internets years ago without checking ;)
I think 75% of the video trying to explain what Dterm does on a MR ware recorded by peopl who never really understood that Dterm is only keeping acceleration at 0
@@FPVUniversity "what Dterm does on a MR ware recorded by people". Not following. I must not be subscribed to that one. What I don't understand is how it is such a mystery when it is so simple. I think to some extent that is marketing so folks think things are magic when it is really just simple math and very basic core drivers. From there, when things get layered on that is when it gets complex (mixing of axis, filter effects on PIDs, effects of delay in the signal, etc.)
Can you make a block diagram of the hole loop? There are 2 "D" values. The dFF comes from the stick and it is the FEED FORWARD column, the second one comes from the kwad movement and it is in the D column? 7:10 the derivate of sin is cos.
Thanks for this clear video that reminds me 15 years ago my studies. Applied to my hobby, it really makes sense. They should have done some expermients with quad to make the stydies more interesting jaja...maybe it was not so developped also... BTW, many thanks, I juste have switched from BF to Inav 2.6. Still work in progress, but exciting ! So thanks for your work
I think dterm need dynamic notch filter ( or matrix filter ) .. Filtering dterm produce less propwash, than filtering gyro. So we can decrease filtering on gyro , but increase filtering dterm by using dynamic notch ( with fft) and some lowpass filters ..
@@FPVUniversity OK not exactly an integral but a time system that says if D is rising to a 7 and then back to a 0 within 3 frames you probably need something closer to a 3, But if you go from a 0 to a 7 to 0 in 5 frames then you probably need closer to a 7.
