Hello internet,

Quick question, would someone be able to explain to me the FILT parameter in the PIDs for arducopter 3.4.1 and above? Thanks in advance.

Cheers,

Will F

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Hello, 

It looks like they have implemented derivative filtering with AC3.4 - check out the code here https://github.com/ArduPilot/ardupilot/blob/master/libraries/AC_PID... - do a search for "FILT" 

A paper that might be describing what is going on in there - http://www2.ece.ohio-state.edu/~passino/lab3prelab.pdf 

Cheers, 

TC

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