and one thing I immediately noticed is that the different firmwares have very different performance on the quad
I recently changed to esc32v3 and tried them first on the new fw...it was shking badly on take off so I thought it was the faster esc and retuned it...tried a lot but only thing that helped was reducing both f values to around 0.18 ,but still it never flew super stable...(this is pid mode)
now back on the old fw I tried for fun to retune it again and pretty much ended up on my old values wich fly much better again
hmm so I have a bit of a dilemma going on
old 52 fw
+flies fantastic
+yaw contoles according to my stick input and not so erratic and robotic like on the new one
-it has this horrible stick delay on roll and pitch...which is an absolute nogo for me
this delay make it very mushy to control ...for example if you want to land it spot on, or also hand catch it
the new smoothing filter in the new fw was helping a lot (giving a sharper control when reduced) so I really thought I would be happy from now on
new fw
+has more direct stick input if you lower the tau filter
-never found a decent pid value for good flight performance
-has the described yaw problem in between the adjustable deadband (very noticable if you reduce it to almost 0)