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Ehh its just smith predictor #553

Merged
merged 6 commits into from
May 16, 2021
Merged

Ehh its just smith predictor #553

merged 6 commits into from
May 16, 2021

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Quick-Flash
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Heres what @DzikuVx has to say about the smith predictor.

tests show that it indeed works and the compensated signal is indeed around 4ms in front of the not-compensated one.

Subjective flight results:

  • no change in smooths flight
  • seems to reduce propwash quite noticeably
  • fast turns to feel more controllable and locked-in (I know it's a abused phrase). Quad felt more on the rails

Cons: when working with a noisy gyro, can amplify noise. In those tests, both gyro LPF was off, only Matrix and Unicorn Filter were enabled

P.S. this code is not ported from inav, its ported from emu 1.0.0

nerdCopter
nerdCopter approved these changes May 14, 2021
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  • approved based on tester/QF testing/discussions

@Quick-Flash Quick-Flash merged commit a772994 into master May 16, 2021
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some reference material:

nerdCopter added a commit to nerdCopter/EmuFlight_nerdRepo that referenced this pull request Jun 9, 2021
@Quick-Flash @nerdCopter
Ehh its just smith predictor (emuflight#553)
97cf224 
* ehh its just smith predictor

if a noob like me can write this code why do we even consider using this crap. EHHH people do seem excited about it though.

* fix issues

Co-authored-by: nerdCopter <[email protected]>
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