so anyway i finally got my 4inch long range micro flying pretty smooth after weeks of fighting it but i feel like im just throwing filters at the problem without actually understanding whats happening. running a F7 FC with bidirectional dshot enabled and RPM filtering on, but i still have this mid throttle oscillation thats driving me crazy. its not bad enough to cause a crash but you can see it in the HD footage and it feels mushy.

ive got dynamic notch set to medium with maybe 2 notches, and the RPM filtering harmonics are at 3. i read somewhere that running too many harmonics can actually add latency and make things worse but then other people say for a 4inch you need more harmonics because the props are noisier. my blackbox logs show pretty clean gyro traces honestly but the motors still get warm after a 4-5 minute pack which makes me think somethings fighting itself in the tune.

anyone been down this rabbit hole and come out the other side with actual settings that worked rather than just guessing

warm motors dont always mean the tune is fighting itself ? what props are you running and whats the motor KV vs battery combo? 4inch builds can just run hot depending on the weight and how aggressive your freestyle is. id check your motor temps against the manufacturer spec before assuming the tune is the issue.

that said, the mid throttle oscillation on a 4inch is usually P term being too high or your D term not keeping up. have you looked at the P and D traces together in blackbox? if P is oscillating and D is flat youve probably just got P too hot for that frame. try dropping P by like 10-15% on roll and pitch before messing with the filters any more, in my experience people reach for filters when its actually a PID problem and then wonder why their quad feels like its flying through mud.

3 harmonics on a 4inch is probably overkill tbh. i run 2 on everything smaller than 5inch and its fine. the latency argument is real, more harmonics = more filtering delay and on a twitchy little 4inch that can definately make it feel sloppy at mid throttle. id dial it back to 2 harmonics and also check if your dynamic notch min/max hz range is actually covering the right frequencies for your motor/prop combo. a lot of people just leave it at defaults and those are tuned more for 5inch setups.

also what FC firmware version are you on? there were some RPM filter changes in some of the 4.3 releases that changed behavior a bit, might be worth checking if youre on something older