Current PR State
The active upstream pull request is #11464. The latest checks are green, `dterm_lpf2_hz` defaults to 0, and filter re-init now starts from the current gyro rate to avoid a one-cycle D-term spike.
Firmware
INAV D-term pre-differentiation LPF work needs flight logs.
An optional filter that smooths gyro input before differentiation, reducing high-frequency noise amplification while keeping the feature disabled by default for review.
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What Needs Flight Testing
- Blackbox logs with `dterm_lpf2_hz` disabled and enabled.
- Comparisons around disabled, 200Hz, and 250Hz.
- Motor temperature notes after hover and active flight.
- Unexpected behavior when changing PID/filter profiles.