since 4.x copter is out, i struggled a bit to find the “best” tuning of the new filter parameters (starting from INS_GYRO_FILTER to ATC_RAT_PIT_FLTT, and the PSC prefix ones, etc). I ended to what i consider a good setup, but everytime i fly it, i feel that it could be improved. Also, depending on what (payload weight, different propellers,…) i mount on the quad, it can happen it begins to have vibrations etc. So, there’s a possibility that there’s not a unique optimal setup for a given platform, especially bigger ones with “modular” payloads.
So said, and since we have a vibration estimation on-board inside the EKF, i ask myself if it would be possible to implement an PID-style closed loop autotune algorithm which tunes that parameters or even adjust them dinamically during flight. (Sorry, i don’t have the skills to do that). Also, such a dynamic-filter algorithm could adjust values depending on flight envelope, since quads have much different throttle states during hover, translation, raise up, yaw, and bad harmonics can raise during those “transient” states, so it would be very difficult to catch them with a “trial and error” setup method.
I think it could greatly improve flight quality of every size and shape UAV. Admins, let me know if i should open a PR in github.