Filter Preparation

It is crucial to tune the filters based on your helicopter to gain the maximum performance while keeping noise out of the control loop. A good filter tuning should be just strong enough to suppress the peaks in the gyro readouts. A filter too weak may have peaks leaked inside the loop, and a filter too strong, while making the gyro signal clean, may lower the maximum gains later which cause a "sloppy" and delayed feel.

It is highly recommended to use the RPM filter on RF. A good starting point is to use a single with Q = 2.5 on the fundamental and a double with Q = 2.5 on the second harmonic for the main rotor. For tail rotor, a single with Q = 2.5 on fundamental and second harmonic will most likely do the job. Motor filter should be turned on as well for non-direct drive machines. A first-order Gyro low pass filter with cutoff frequency of 100hz should be turned on. Notice: a low Q value makes the filter wide and strong, a high Q value makes the filter narrow and weak. It is always preferred to have highest Q value possible without leaking too much vibrations.