From 07a03f860a8f80d4878a67f0d741a4d14b9aca32 Mon Sep 17 00:00:00 2001
From: PX4BuildBot <bot@px4.io>
Date: Thu, 25 Feb 2021 15:52:54 +0000
Subject: [PATCH] Update PX4 Firmware metadata Thu Feb 25 15:52:54 UTC 2021

---
 src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 08d39da..14591e3 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -10462,7 +10462,7 @@ is less than 50% of this value</short_desc>
       <unit>Hz</unit>
       <reboot_required>true</reboot_required>
     </parameter>
-    <parameter name="IMU_DGYRO_CUTOFF" default="30.0" type="FLOAT">
+    <parameter name="IMU_DGYRO_CUTOFF" default="10.0" type="FLOAT">
       <short_desc>Cutoff frequency for angular acceleration (D-Term filter)</short_desc>
       <long_desc>The cutoff frequency for the 2nd order butterworth filter used on the time derivative of the measured angular velocity, also known as the D-term filter in the rate controller. The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to increase IMU_GYRO_CUTOFF, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.</long_desc>
       <min>0</min>