Betaflight 3.3 (not) Kalman Filter | FLIGHT TESTING

16,584 Views · Posted 6 years ago

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I'm doing flight testing of the new Betaflight 3.3 filter, which is not a Kalman filter, but yeah that thing the new super sexy awesome filter in Betaflight 3.3? I'm testing it.

FREESTYLE RIPPAGE with this setup is here:
https://www.youtube.com/watch?v=qtHNoUDSthU

--- INDEX OF CONTENTS ---

3:35 - Stock default settings, but with dynamic notch enabled. Basically, the worst-performance most people will experience (which is still pretty impressive to be honest).

6:09 - Typical best 3.2 setup for most quads. Default settings, dynamic notch enabled, D term lowpass changed Biquad to PT1. Both gyro notches disabled. D term notch NOT DISABLED. Although disabling D term notch would give better performance, many quads can't disable it without getting hot motors, so I left it on to try to reflect a more typical experience.

7:45 - "Betaflight Dev Approach". BF 3.3 stage2 configuration. All notch filters disabled (gyro, d term, and dynamic). Stage2 filter at 150 Hz. 32 kHz gyro, 16 kHz PID loop.

10:14 - Same as before, but now stage2 filter is raised from 150 to 250 Hz.

11:36 - Same as before, but now the gyro and PID loop are both running at 8 kHz, such as would be on a FC using MPU6000 gyro, which cannot run at 32 kHz.

13:06 - "UAV Tech's Approach". All notch filters disabled, except dynamic notch enabled. Stage2 cutoff at 500 Hz. 32 kHz gyro, 16 kHz PID.

--- WHO IS UAV TECH AND WHERE IS HIS YOUTUBE CHANNEL ---

https://www.youtube.com/user/spatzengr

--- THE QUAD IN THIS VIDEO IS ---

Frame: OwlRC Dragon
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* ReadymadeRC: https://goo.gl/HBNFoj

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Video Tags

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