The d-term filtering within Betaflight is very flawed and D still operates on noise outside of specified hz range. This is probably why D has always been a problem within Betaflight and overheating motors.
This adds a corrected d-term filter implementation.
the new cli options are as follows
set dterm_filter_style = KD_FILTER_CLASSIC // original poor implementation
set dterm_filter_style = KD_FILTER_SP // filtering setpoint
set dterm_filter_style = KD_FILTER_NOSP // not filtering setpoint
The d-term filtering within Betaflight is very flawed and D still operates on noise outside of specified hz range. This is probably why D has always been a problem within Betaflight and overheating motors.
This adds a corrected d-term filter implementation.
the new cli options are as follows