@tridge @andyp1per I’m playing with this miniConvergence again and wondering whether I can improve the PID tuning using the throttle-based notch filter.
It now has 3-blade 4x2.3 props on the 2500KV motors with 3S power and a flying weight of only 326g.
I think the frame may be too flexible since the motor nacelles seem to lack rigidity, and the logs seem to show some cross-coupling between roll and pitch.
Attitude control feels a bit loose but it flies reasonably well.
Could you take a look at the fft_prefilt and postnotch logs here? I’d appreciate any comments or advice you might have.
prefilt
postnotch
test_postnotch
BTW, this is a branch off a recent master with a new manual forward throttle option that works more like that in the stock Convergence.