Analysis Comparison
Own blackbox evaluation vs. independent external analysis — side by side, transparent. Safety-critical deviations clearly marked.
⚠ Safety-relevant
Three of the differences found have a direct impact on behaviour during signal loss and in a crash. These points should be known before every outdoor flight.
Key findings compared
🔵 Own analysis
Failsafe delay: not explicitly checked OPEN
Motor imbalance: FFT peak at 530 Hz detected DETECTED
Crash recovery: Turtle mode known, not tested OPEN
Filter setup: Gyro LPF1 set to 250 Hz DOCUMENTED
Base PID values: P 45/47/45 identified as too high KNOWN
🟠 External analysis
Failsafe delay: 300 ms measured — critical on whoops CRITICAL
Motor imbalance: Motor 3 +8% deviation from the mean CRITICAL
Crash recovery: Turtle-mode test recommended + documented COVERED
Filter setup: Dyn-notch count 3 confirmed as correct CONFIRMED
Base PID values: Recommendation: lower roll/pitch P to 35 RECOMMENDATION
Safety-critical points (detail)
Failsafe delay: 300 ms
On a 2S whoop with this delay, after signal loss at 1 m altitude the drone can already be near the ground before the failsafe kicks in. Recommendation: reduce the stage-1 delay to 100 ms in Betaflight.
Motor 3 — +8% power deviation
Motor 3 (rear left) consistently shows higher outputs than the other three. Causes: slight prop damage, beginning motor wear or duct contact. Check before the next outdoor flight.
Crash recovery / turtle mode not tested
Turtle mode is configured in Betaflight but has never actually been activated. Test recommended: deliberately flip it over on a soft surface and document the recovery via turtle mode.
Agreements (no action needed)
Gyro filter setup confirmed
LPF1 250 Hz, LPF2 375 Hz, dyn-notch count 3, max-Hz 400 — both analyses reach the same conclusion: the setup is appropriate for this type of quad.
Feedforward settings consistent
Smooth 30, jitter 4 — rated in both analyses as the correct choice for freestyle whoops.
TBS Crossfire packet rate
150 Hz with a telemetry ratio of 1:64 — confirmed by both analyses as optimal for the Flylens 75 in urban environments.