Dynamic Filters

Matrix gyro Filter

• The gyro Dynamic_Filter in EmuFlight 0.3.X (a.k.a. Matrix) is a per-axis dynamic gyro notch written by Paweł Spychalski.

Tuning

• EmuFlight stock defaults are fair for a 5" standard-frame quadcopter, but generally over-filter.
• Defaults have Matrix enabled as well as 2 dTerm LPF's, which again may be overfiltering. (Helio is disabled by default.)
• The goal of filter tuning is to have a quad-specific tune that is neither over-filtered nor under-filtered.

Many options (0.3.X)

• Often it is found that with Matrix enabled, only one dTerm LPF is required.
• Often it is found that with Matrix disabled, two dTerm LPF's are required. (But this may vary, especially on Helio/Strix.)
• Matrix may placed over the motor-noise spikes to remove dTerm noise from gyro; However,
• Matrix may also be placed above motor-noise spike to clean-up only high frequency noise.

Variables and Values

• Matrix Q (dynamic_gyro_notch_q) is the width of the dynamic per-axis notches. Higher value is a narrower notch, while smaller values are a wider notch. Range: 1-1000. Default: 300.
• Smaller values (wider notches) are more latent than larger values (narrower notches).
• Matrix Min (dynamic_gyro_notch_min_hz) is the lowest value that a notch's cutoff may exist. Range: 30-1000. Default: 150.
• Matrix Max (dynamic_gyro_notch_max_hz) [0.3.2+ / CLI only] is the highest value that a cutoff may exist. Range: 600-1000. Default: 600.

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• Matrix Introduction, by Paweł: https://youtu.be/7s8ZeP135uI
• How it Works, by Paweł: https://youtu.be/w0QsVIXYWCE