IMUF

IMUF Tuning

Q

Think of Q as “Trust”. The more you “trust” the gyro measurement, the less filtering will be applied. Q values are “elastic”. The defaults (3000) are now baseline values. This will predictably change based on conditions during flight. This results in a much more responsive and connected feel. This also reduces the potential for MTO, and other unwanted flight characteristics. In some instances MTO can be created from having a Q value which is to low. In those instances increases Q will help with MTO.

W

W is the amount of gyro readings which the IMUF filter looks at to determine its filter. Lower W gives a sharper stick feel. Larger craft prefer a higher W value. Increasing W does not increase delay in the filter, instead it just increases the window of gyro readings from the past that the filter looks at to make its calculations. The default for a typical 5" quadcopter is 32. Generally, racers may prefer a lower W while freestylers may prefer a larger W. While a lower W may reduce smoothness, it may also assist in cutting through heavy winds -- consider using profiles for low-wind vs high-wind days.