What is Betaflight 3.5 Feedforward and how to use it

Betaflight 3.5 is just around a corner and it brings new cool things. There is no more Dterm setpoint weight and Dterm setpoint transition (relaxation ratio). They all were replaced by easier to understand Derivative and Feedforward (Feed Forward when you refer to the control theory tho).

Betaflight Derivative and Feedforward parameters are the new way of controlling "damping force" of the Dterm and responsiveness of a drone. The more Derivative gain you set, the more "damped", "delicate" and "swooshy" drone will be. The more Feedforward gain you apply, the more responsible to the sticks it will be. It's almost the same as with Dterm setpoint weight, but in my opinion, made simpler and can be set separately for each axis.

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