Merge pull request #11464 from 19379353560/feature/dterm-prediff-lpf

flight/pid: add D-term pre-differentiation LPF (dterm_lpf2_hz)

Author: sensei-hacker

docs/Settings.md

@@ -925,6 +925,16 @@ Sets the DShot beeper tone
 
 ---
 
+### dterm_lpf2_hz
+
+Dterm pre-differentiation LPF cutoff (Hz). Filters gyro before differentiation to reduce noise amplification. Higher = less delay, more noise. 0 = disabled. Values around 200-250Hz can add smoothing with small delay.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 500 |
+
+---
+
 ### dterm_lpf_hz
 
 Dterm low pass filter cutoff frequency. Default setting is very conservative and small multirotors should use higher value between 80 and 100Hz. 80 seems like a gold spot for 7-inch builds while 100 should work best with 5-inch machines. If motors are getting too hot, lower the value

src/main/fc/settings.yaml

@@ -2034,6 +2034,12 @@ groups:
         default_value: 110
         min: 0
         max: 500
+      - name: dterm_lpf2_hz
+        description: "Dterm pre-differentiation LPF cutoff (Hz). Filters gyro before differentiation to reduce noise amplification. Higher = less delay, more noise. 0 = disabled. Values around 200-250Hz can add smoothing with small delay."
+        default_value: 0
+        field: dterm_lpf2_hz
+        min: 0
+        max: 500
       - name: dterm_lpf_type
         description: "Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`, `PT2`, `PT3`."
         default_value: "PT2"

src/main/flight/pid.c

@@ -97,6 +97,8 @@ typedef struct {
     rateLimitFilter_t axisAccelFilter;
     pt1Filter_t ptermLpfState;
     filter_t dtermLpfState;
+    pt1Filter_t dtermLpf2State;         // Pre-differentiation LPF (BF-style: filter before diff to reduce noise amplification)
+    float previousFilteredGyroRate;     // Stores filtered gyro for pre-diff architecture
 
     float stickPosition;
 
@@ -161,6 +163,7 @@ static EXTENDED_FASTRAM float dBoostMaxAtAlleceleration;
 static EXTENDED_FASTRAM uint8_t yawLpfHz;
 static EXTENDED_FASTRAM float motorItermWindupPoint;
 static EXTENDED_FASTRAM float antiWindupScaler;
+static EXTENDED_FASTRAM uint16_t dtermLpf2Hz;
 #ifdef USE_ANTIGRAVITY
 static EXTENDED_FASTRAM float iTermAntigravityGain;
 #endif
@@ -264,6 +267,7 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
 
         .dterm_lpf_type = SETTING_DTERM_LPF_TYPE_DEFAULT,
         .dterm_lpf_hz = SETTING_DTERM_LPF_HZ_DEFAULT,
+        .dterm_lpf2_hz = SETTING_DTERM_LPF2_HZ_DEFAULT,
         .yaw_lpf_hz = SETTING_YAW_LPF_HZ_DEFAULT,
 
         .itermWindupPointPercent = SETTING_ITERM_WINDUP_DEFAULT,
@@ -333,6 +337,16 @@ bool pidInitFilters(void)
         initFilter(pidProfile()->dterm_lpf_type, &pidState[axis].dtermLpfState, pidProfile()->dterm_lpf_hz, refreshRate);
     }
 
+    dtermLpf2Hz = pidProfile()->dterm_lpf2_hz;
+    if (dtermLpf2Hz > 0) {
+        for (int axis = 0; axis < 3; axis++) {
+            const float currentGyroRate = pidState[axis].gyroRate;
+            pt1FilterInit(&pidState[axis].dtermLpf2State, dtermLpf2Hz, US2S(refreshRate));
+            pt1FilterReset(&pidState[axis].dtermLpf2State, currentGyroRate);
+            pidState[axis].previousFilteredGyroRate = currentGyroRate;
+        }
+    }
+
     for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
         pt1FilterInit(&windupLpf[i], pidProfile()->iterm_relax_cutoff, US2S(refreshRate));
     }
@@ -775,16 +789,20 @@ static float applyDBoost(pidState_t *pidState, float dT) {
 static float FAST_CODE dTermProcess(pidState_t *pidState, float currentRateTarget, float dT, float dT_inv) {
     // Calculate new D-term
     float newDTerm = 0;
-    if (pidState->kD == 0) {
-        // optimisation for when D is zero, often used by YAW axis
-        newDTerm = 0;
-    } else {
-        float delta = pidState->previousRateGyro - pidState->gyroRate;
+    if (pidState->kD != 0) {
+        float delta;
+        if (dtermLpf2Hz > 0) {
+            // Filter gyro before differentiation so D-term does not amplify high-frequency noise.
+            const float filteredGyro = pt1FilterApply(&pidState->dtermLpf2State, pidState->gyroRate);
+            delta = pidState->previousFilteredGyroRate - filteredGyro;
+            pidState->previousFilteredGyroRate = filteredGyro;
+        } else {
+            delta = pidState->previousRateGyro - pidState->gyroRate;
+        }
 
         delta = dTermLpfFilterApplyFn((filter_t *) &pidState->dtermLpfState, delta);
 
-        // Calculate derivative
-        newDTerm =  delta * (pidState->kD * dT_inv) * applyDBoost(pidState, currentRateTarget, dT, dT_inv);
+        newDTerm = delta * (pidState->kD * dT_inv) * applyDBoost(pidState, currentRateTarget, dT, dT_inv);
     }
     return(newDTerm);
 }
@@ -1510,4 +1528,4 @@ uint16_t getPidSumLimit(const flight_dynamics_index_t axis) {
     } else {
         return 500;
     }
-}
+}

src/main/flight/pid.h

@@ -103,6 +103,7 @@ typedef struct pidProfile_s {
 
     uint8_t dterm_lpf_type;                 // Dterm LPF type: PT1, BIQUAD
     uint16_t dterm_lpf_hz;
+    uint16_t dterm_lpf2_hz;                 // Dterm second stage LPF (pre-differentiation, like Betaflight)
 
     uint8_t yaw_lpf_hz;