breadoven

I tested the other day with `nav_mc_vel_xy_dterm_attenuation `= 0 ... and the over speeding issue on initial acceleration disappears, at least up to the 18 km/h speed the WP mission...

> Out of interest, what is your `nav_mc_bank_angle` set too ? Set to 30 degs in my case. I don't think the bank angle is really the issue. It should...

> What do you think ? I think this is probably mixing up a number of different issues which may or may not be related. I agree that sometimes the...

I reworked this PR to change how `nav_mc_vel_xy_dterm_attenuation_start `and `nav_mc_vel_xy_dterm_attenuation_end `work. Rather than setting a percentage of the set Nav speed they instead set fixed values of 2D speed as...

Well you should be able to simulate how the quad would have performed with the old settings by adjusting the settings for this PR to give you the same attenuation...

@Jetrell The D Term attenuation was brought in by https://github.com/iNavFlight/inav/pull/5338. Unfortunately it doesn't explain what it was trying to fix exactly and the videos in the PR are no longer...

Just checked a log that shows this speed glitch and GPS speed doesn't drop at the same time so this doesn't appear to be GPS related. I also noticed the...

@Jetrell Maybe it would help to clarify what the issues are here: D Term attenuation - is this to fix pitch instability at higher speeds or at any speed around...

It doesn't sound like this PR is likely to work if this bouncing issue isn't related to flying at higher speeds, but affects flying at any target speed. The testing...

> It is also difficult to test the effect of ESC reboot on the bench with the throttle raised, in the case of inflight emergency rearming. Because it seems to...