Together with version 1.4, INAV introduced asynchronous gyroscope processing. What is async gyro and why it is useful to have it, you can read here. In short worlds: data from gyroscope is read and filtered faster than PID controller updates motor and servo output.
When it is worth to enable asynchronous processing
In general, async gyro can be enabled when:
- Flight controller does not ave enough processing power to run control loop faster than 2000us (500Hz mode). This is the case for all SMT32F1 boards like Naze32, Flip32 or CC3D
- Flight controller is powerful enough to process PID control loop faster than ESC protocol (PWM, Oneshot125, Multishot) transfer commands to ESC and servos. This is usually true in case of all STM32F4 boards
- INAV is setup on a “racer” machine that requires the best gyro signal possible
Async gyro should not be enabled when gyro and control loop frequency are the same. For example, 1kHz gyro and 1kHz control loop would give worse results than 1kHz synchronous processing. Continue reading “INAV: how to setup asynchronous gyro” »