i_decay

What is i_decay?

EmuFlight has a tuning parameter called i_decay. i_decay is a powerful tool for reducing iterm windup and bounceback at the end of quick flips and rolls. Increasing i_decay means that you can run a higher i without many of the negatives associated with a high i.

How does it work?

i_decay works by taking the iterm windup which is normally accumulated during sharp moves and increases how quickly it shrinks. By increasing your i_decay you are literally increasing how quickly the iterm would naturally decrease after a windup. An i_decay of 1 actually turns off the functionality of the i_decay. An i_decay of 2 make the decrease in the iterm twice as fast while an i_decay of 5 makes the iterm decrease 5 times as fast as it normally would.

@Skylion Tip: When tuning I_decay I usually start at 5 and do a bunch of fast flips and rolls. You'll want to particularly pay attention the the end of the flips/rolls and how your quad catches itself, if your getting bounce back or other unstable movements then raise it by 1 till you see that go away. I like I_decay set to 7 on micros and 8 on 5"+.

iDecay v2 (0.3.2+)

adds i_decay_cutoff where default is 200 (20.0%) threshold of iterm accumulation before Decay is applied.