Hey

Why is it recommended that D in Yaw be zero?

Is it due to the lack of noise from it?

the main thing is, its designed to work like that. d term on yaw is still called an experimental feature.
i dont know more precise answer, dterm noise is alwo the only breking thing i can understand.

as example emuflight does use d-term on yaw. default value is 5, still a very low value.
i got up to a value of 20 in tuning process - on less powerfull builds with propguards as example, higher d-term on yaw was much better.
at least in emuflight, the d-term value on yaw is nice - emu did or does feel naturaly "more in controll", response dpecialy well o the yaw axies. not sure if it is that dterm on yaw or if it is more about the numerious emu features, there are many boost features..
as emu is different in filtering, maybe dterm noise is still the theme where the difference and the reason for dvalue on yaw in emu ?

(04-Dec-2023, 11:37 AM)hugnosed_bat Wrote: the main thing is, its designed to work like that. d term on yaw is still called an experimental feature.
i dont know more precise answer, dterm noise is alwo the only breking thing i can understand.

as example emuflight does use d-term on yaw. default value is 5, still a very low value.
i got up to a value of 20 in tuning process - on less powerfull builds with propguards as example, higher d-term on yaw was much better.
at least in emuflight, the d-term value on yaw is nice - emu did or does feel naturaly "more in controll", response dpecialy well o the yaw axies. not sure if it is that dterm on yaw or if it is more about the numerious emu features, there are many boost features..
as emu is different in filtering, maybe dterm noise is still the theme where the difference and the reason for dvalue on yaw in emu ?

I heard that D should be more focused on pitch and roll