Board feels trotter-y on drops, v6 float package

update for anyone still running into nose hunting:

  • disable all tilt settings in float pkg (ATR, turn tilt, variable tiltback, constant tiltback)
  • make sure sensorless ERPM is set at 2000
  • use dado’s recommended motor config settings How To Configure Motor
  • calibrate IMU / accelerometer
  • loop hertz is set correctly for your hardware. 832 for focer 3.1, 800 for everything else (i’m pretty sure…? but check the docs on the manufacture’s page for specs). There is more than 1 place to set this, in float pkg specs page, also in app config > IMU > sample rate
  • zero vector frequency has a huge effect on board stability. Ubox defaults to 30khz, I’m currently running 22khz and the difference in stability is night and day. FM hardware I think is set to ~14khz. Don’t copy my setting but instead play around with this value until you find a good tune. anywhere around 20k-30k should be acceptable. The most consistent test I found for troubleshooting nose hunting is going over chunky cobblestones.
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