Thanks for reviewing these INAV firmware experiments. The most useful contributions are flight logs, careful code review, and reproducible test notes.
- Blackbox logs comparing
dterm_lpf2_hz = 0with enabled values such as 200Hz or 250Hz. - Motor temperature notes after short hover and active flight.
- Notes about frame size, props, motors, firmware version, and vibration source.
- Code review on PID/filter initialization, scheduler cleanup, and sensor-chain maintainability.
- Flight-test request: #1
- Discussion: #2
- Flight-test guide: https://19379353560.github.io/dterm-flight-test-guide.html
- Upstream PR #11464: iNavFlight/inav#11464
- Upstream PR #11465: iNavFlight/inav#11465
Treat these branches as experimental. Do not fly unreviewed firmware on a model you cannot safely test, and always keep conservative filter/PID changes.