Filter: protect against extremely low notch filter frequencies (4.4 backport) #25429
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an incorrectly configured ESC telemetry source can lead to a notch running at very low frequencies. A simple example is a lua script like this: function update() esc_telem:update_rpm(12, 0, 0) return update, 10 end return update() where motor 12 is unused. with that script in place we get a 1.0078 Hz filter which leads to massive phase lag and a crashed aircraft this is a safety protection. We should also try to find out why the INS_HNTCH_FREQ lower limit is not working
IamPete1
approved these changes
Nov 1, 2023
no, as that can cause aircraft that fly fine now to not fly fine. |
Without this patch won't there notches all be at 0? As you found in your testing here: #25355 (comment) "21.bin this is without either your fix or mine. You can see it crashes on takeoff due to massive lag" So I don't think the addition of my patch will cause any crashes on vehicles that are currently flying. |
This is incorrect. It is the lack of that change that makes this change necessary. Using his change is the better fix. |
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this is in 4.4.3-beta1 |
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backport of #25352
an incorrectly configured ESC telemetry source can lead to a notch running at very low frequencies. A simple example is a lua script like this:
function update()
esc_telem:update_rpm(12, 0, 0)
return update, 10
end
return update()
where motor 12 is unused.
with that script in place we get a 1.0078 Hz filter which leads to massive phase lag and a crashed aircraft
this is a safety protection. We should also try to find out why the INS_HNTCH_FREQ lower limit is not working