Michael Lyle

god damn wrong button.

Let's prove it's good before adding UI

> So the loose idea I had anyway was an optionally purely filter based time delay (not in particular a fan of adding more noise than necessary :), as alternative...

Put back into inconceivable for now, just for consideration.

Is this something we want to try and merge for inconceivable? If so, it should lose the WIP tag and go through review.

Basically they should be, yes. Home pos is slightly harder than altitude but IMO we should solve both at once. #65 is also closely related

This is good feedback. Probably it should be configurable, because sometimes what's desired is nav relative to the takeoff position, and sometimes not.

This doesn't make much sense to me / doesn't really jibe with the concept of PID control. An integral term that decays towards 0 is identical to a P term...

The math makes it look like to me that this is equivalent to A) only running a P term, with B) a different gyro filter shape. There's two differences I...

One "dumb" way to do this for prototyping/understanding would be just to hack in a 1Hz cutoff filter 1st order IIR (like the math you currently do) with the other...