Feathered PIDs

Featherd PIDs

• Feathered PIDs changes how dTerm (kD) is calculated.
• 0 is error-based dTerm and 100 is measurement based-dTerm.
• dTerm on gyro measurement is how BetaFlight calculates dTerm. (100)
• dTerm based on error is how KISS calculates dTerm. (0)
• Measurement-based (100) is smoother but less responsive than error-based (0).
• Any value in-between is a percentage of each.
• Some quads prefer error-based, while others prefer measurement-based.
• 50 is an exact balance between both.

@QuickFlash Tip : dTerm from error = FF+BF_dTerm. So the lower feathered is the more FF you have.