Details on Prop. Wash | Error vs. Measurement
This is why D-term is the most effective term for reducing prop wash. It reacts immediately to gyro slope, not offset from Setpoint (like P-term). So as soon as the gyro starts to go off course, D-term is the first on the scene to correct with P coming along thereafter to assist. Also, this is all being done on "wrong" (or lagged) gyro data because the gyro readings going into the PID controller are offset in time by some amount of gyro filtering latency. So less filtering = less latency. However, if too little you get an inconsistent D-Term "message" to the PID Sum to correct for the prop. wash condition.
PID tuning video: • Tuning With Stingy & My Current PIDs and R...
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