Fix D component #13
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Fix D component #13
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The value from the previous update, used for the bilinear filter, was getting negated to produce the new value. "Memory" got oscillating between positive and negative. This change moves the negation to the input of the filter (derivative on measurement) but keeps the filter out of that negation.
This was referenced Nov 5, 2025
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The value from the previous update, used for the bilinear filter, was getting negated to produce the new value. "Memory" got oscillating between positive and negative.
This change moves the negation to the input of the filter (derivative on measurement) but keeps the filter out of that negation.