Rana, Evan

The top mass pitch and yaw damping filters for the quads were inconsistent between different suspensions. We cleaned up and regularized the filters (in particular, by turning off the lower-Q "newboo" filter in one of the ETM pitch loops), and settled on the following configurations:

• Pitch: FM1 (plant compensation, confusingly called "rolloff"), FM2 (resonant boost around 0.5 Hz), FM5 (flat gain), FM6 (60 Hz notch), FM8 (+10 dB), FM10 (rolloff filter), gain −1
• Yaw: FM1 (plant compensation, confusingly called "rolloff"), FM2 (resonant boost around 0.5 Hz), FM5 (flat gain), FM6 (60 Hz notch), FM8 (+12 dB), FM10 (rolloff filter), gain −1

The step responses look reasonable (Q of 4 or so). We tuned the gains by increasing them until we saw oscillation, and then we backed off by 6 dB or so. The overall pitch loops are basically the same as before, while the yaw loops have 12 dB more gain.