IMUF 255 (PT3)

IMUF 255 (PT3)

Warning

• This version will saturate CPU at 32k pidloop. Please use a max of 16k pidloop unless using StrixF10 or Over-clocked HelioSpring.

Recommendation: IMUF 254 (PT2) or IMUF 255 (PT3), depending on aircraft.

Notes

• PT3 filter rather than BiQuad.
• Does not over-filter like 900X, 250, & 252.
• Pilots may revert IMUF LPF's to normal ranges (typically 90-120), depending on the aircraft.
• Pilots are welcome to use any IMUF versions liked best. New IMUF releases are not requirements. You may even use original HelioRC IMUF if you prefer.
• Sharpness has no effect on IMUF254 firmware.
• Some pilots have found 10.67k/10.67k gyro/pid loops to be best overall balance between gyro-noise and flight-control. You may achieve 10.67k loops by CLI command set gyro_sync_denom = 3.
• Other gyro/pid loops that work well: 32/16, 16/16, 16/8, 8/8, 8/4

Compatibility

• Any flightware version

Additional Information

• Use the IMUF Flasher Tool for Flashing: https://github.com/emuflight/Nemesis/releases/tag/imuf-flasher-0.1.0

Changleog:

• fix filter cutoffs
• improve Kalman filter
• change k calculation to be slightly more static
• PT3 filter rather than BiQuad
• non-dynamic gyro LPF
• removed sharpness