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Feathered PIDs

  • Feathered PIDs changes how dTerm (kD) is calculated.
  • 0 is error-based dTerm and 100 is measurement based-dTerm.
  • dTerm based on error is how KISS calculates dTerm.
  • dTerm on measurement is how BetaFlight calculates dTerm.
  • Measurement-based is smoother but less responsive than error-based.
  • Any value in-between is a percentage of each.
  • Some quads prefer error-based, while others prefer measurement-based.
  • 50 is an exact balance between both.