flight/pid,sensors/gyro: D-term pre-diff LPF + code quality improvements#11465
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19379353560 wants to merge 2 commits intoiNavFlight:maintenance-9.xfrom
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flight/pid,sensors/gyro: D-term pre-diff LPF + code quality improvements#1146519379353560 wants to merge 2 commits intoiNavFlight:maintenance-9.xfrom
19379353560 wants to merge 2 commits intoiNavFlight:maintenance-9.xfrom
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added 2 commits
March 31, 2026 01:43
- dTermProcess: early return when kD==0, remove redundant variable - pidInitFilters: merge 3 init loops into 1, extract common US2S(refreshRate) subexpression - pidApplyMulticopterRateController: factor out antiWindupScaler*dT from I-term update - gyroFilter: rename preLulu to preFilterGyro, add const - pidApplyFixedWingRateController/pidApplyMulticopterRateController: add const to itermLimit No behavior change. All modifications are structural/readability improvements.
…ments Pre-differentiation LPF (v1, from master): - pid.h: add dterm_lpf2_hz field to pidProfile_t - pid.c: add dtermLpf2State and previousFilteredGyroRate to pidState_t - pid.c: initialize pre-diff filter in pidInitFilters() - pid.c: apply pre-diff filter in dTermProcess() before differentiation - settings.yaml: add dterm_lpf2_hz parameter (default 250Hz, range 0-500) Code quality improvements (v2): - dTermProcess: early return when kD==0, remove redundant newDTerm variable - pidInitFilters: merge 3 axis loops into 1, extract common dT subexpression - pidApplyMulticopterRateController: factor out antiWindupScaler*dT - Add const to itermLimit in both FW and MC rate controllers - gyroFilter: rename preLulu to preFilterGyro, add const Noise reduction: diff amplification ~9x -> ~3.6x, latency +0.6ms at 1kHz.
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Summary
Combines the D-term pre-differentiation LPF optimization with follow-up code quality improvements.
Part 1: D-term pre-differentiation LPF
Filters gyro before differentiation instead of after, reducing noise amplification.
Files changed:
pid.h: adddterm_lpf2_hztopidProfile_tpid.c: adddtermLpf2State/previousFilteredGyroRatetopidState_t, initialize and apply inpidInitFilters()/dTermProcess()settings.yaml: adddterm_lpf2_hzparameter (default 250Hz, range 0–500)Part 2: Code quality improvements
dTermProcess: early return whenkD==0, remove redundantnewDTermvariablepidInitFilters: merge 3 separate axis loops into 1, extractconst float dT = US2S(refreshRate)pidApplyMulticopterRateController: factor outantiWindupScaler*dTfrom I-term updateconsttoitermLimitin both FW and MC rate controllersgyroFilter: renamepreLulu→preFilterGyro, addconstTest plan
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