Feathered PIDs

Featherd PIDs

• Feathered PIDs changes how dTerm (kD) is calculated.
• 0 is error-based dTerm and 100 is measurement based-dTerm.
• dTerm on measurement (100) is how BetaFlight calculates dTerm.
• dTerm based on error (0) is how KISS calculates dTerm.
• Measurement-based (100) is smoother but less responsive than error-based (0).
• Any value in-between is a percentage of each.
• Some quads prefer error-based, while others prefer measurement-based.
• 50 is an exact balance between both.

@QuickFlash Tip : dTerm from error (0) = FF+BF_dTerm. So the lower feathered is the more FF you have.