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bf-4.2_processing-workflow.drawio
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<mxGeometry x="380" y="490" width="70" height="60" as="geometry" />
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-137" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=1;entryDx=0;entryDy=0;endArrow=classic;endFill=0;strokeWidth=2;fontSize=12;jumpStyle=arc;exitX=0.5;exitY=0;exitDx=0;exitDy=0;strokeColor=#FF9933;" parent="RuyqhTZgdlnSvw2_jLQb-54" source="RuyqhTZgdlnSvw2_jLQb-138" edge="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-142" value="<font size="1">ESC</font>" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FFF2CC;" parent="RuyqhTZgdlnSvw2_jLQb-54" vertex="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-143" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;endArrow=classic;endFill=0;strokeWidth=2;fontSize=12;exitX=0.5;exitY=0;exitDx=0;exitDy=0;" parent="RuyqhTZgdlnSvw2_jLQb-54" source="RuyqhTZgdlnSvw2_jLQb-144" target="RuyqhTZgdlnSvw2_jLQb-56" edge="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-145" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;endArrow=classic;endFill=0;strokeWidth=2;fontSize=12;" parent="RuyqhTZgdlnSvw2_jLQb-54" source="RuyqhTZgdlnSvw2_jLQb-146" target="RuyqhTZgdlnSvw2_jLQb-144" edge="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-146" value="<div class="page" title="Page 1"><div class="section"><div class="layoutArea"><div class="column"><div class="page" title="Page 1"><div class="section"><div class="layoutArea" style="font-size: 10px"><div class="column" style="line-height: 50%"><p>idle_min_rpm</p><p>idle_adjustment_speed</p><p>idle_p</p><p>idle_pid_limit</p><p>idle_max_increase</p></div></div></div></div></div></div></div></div>" style="shape=process;whiteSpace=wrap;html=1;backgroundOutline=1;strokeWidth=1;size=0.07692307692307693;fillColor=#FFFFFF;" parent="RuyqhTZgdlnSvw2_jLQb-54" vertex="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-147" value="Gyro filters parameter" style="swimlane;fillColor=#B9E0A5;" parent="RuyqhTZgdlnSvw2_jLQb-54" vertex="1">
<mxGeometry x="710" y="1020" width="460" height="130" as="geometry" />
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-148" value="<font style="line-height: 100%"><b style="font-size: 10px"><u>RPM Notch filters:</u></b> <i><font style="font-size: 9px">gyro_rpm_notch_harmonics, gyro_rpm_notch_q, gyro_rpm_notch_min</font></i><br></font>" style="text;html=1;align=left;verticalAlign=middle;resizable=0;points=[];autosize=1;fontSize=12;" parent="RuyqhTZgdlnSvw2_jLQb-147" vertex="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-149" value="<font style="line-height: 100%"><b style="font-size: 10px"><u>Dynamic Notch filters:</u></b> <i><font style="font-size: 9px">dyn_notch_min_hz, dyn_notch_max_hz, dyn_notch_width_percent, dyn_notch_q</font></i><br></font>" style="text;html=1;align=left;verticalAlign=middle;resizable=0;points=[];autosize=1;fontSize=12;" parent="RuyqhTZgdlnSvw2_jLQb-147" vertex="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-150" value="<font style="line-height: 100%"><b style="font-size: 10px"><u>Static Gyro Notches 1+2:</u></b> <i><font style="font-size: 9px">gyro_notch1_hz, gyro_notch1_cutoff, gyro_notch2_hz, gyro_notch2_cutoff</font></i><br></font>" style="text;html=1;align=left;verticalAlign=middle;resizable=0;points=[];autosize=1;fontSize=12;" parent="RuyqhTZgdlnSvw2_jLQb-147" vertex="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-151" value="<font style="font-size: 9px ; line-height: 100%"><b><u>Dynamic Gyro LowPass :</u></b> <i>gyro_lowpass_type, gyro_lowpass_hz, dyn_lpf_gyro_min_hz,&nbsp;</i>dyn_lpf_gyro_max_hz<br></font>" style="text;html=1;align=left;verticalAlign=middle;resizable=0;points=[];autosize=1;fontSize=12;" parent="RuyqhTZgdlnSvw2_jLQb-147" vertex="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-152" value="<font style="line-height: 100%"><b style="font-size: 10px"><u>Static Gyro Lowpass:</u></b><font style="font-size: 9px">&nbsp;dyn_lowpass2_type, gyro_lowpass2_hz</font><br></font>" style="text;html=1;align=left;verticalAlign=middle;resizable=0;points=[];autosize=1;fontSize=12;" parent="RuyqhTZgdlnSvw2_jLQb-147" vertex="1">
<mxGeometry x="6" y="106" width="280" height="20" as="geometry" />
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-154" value="<font style="line-height: 100%"><b style="font-size: 10px"><u>Dynamic D lowpass:</u></b> <br><i><font style="font-size: 9px">dterm_lowpass_type, dyn_lpf_dterm_min_hz, dyn_lpf_dterm_max_hz, dyn_lpf_dterm_curve_expo</font></i><br></font>" style="text;html=1;align=left;verticalAlign=middle;resizable=0;points=[];autosize=1;fontSize=12;" parent="RuyqhTZgdlnSvw2_jLQb-153" vertex="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-155" value="<font style="line-height: 100%"><b style="font-size: 10px"><u>Static&nbsp; D lowpass:</u></b> <br><i><font style="font-size: 9px">dterm_lowpass2_type, dterm_lowpass2_hz</font></i><br></font>" style="text;html=1;align=left;verticalAlign=middle;resizable=0;points=[];autosize=1;fontSize=12;" parent="RuyqhTZgdlnSvw2_jLQb-153" vertex="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-156" value="<font style="line-height: 100%"><b style="font-size: 10px"><u>Static&nbsp; D notch:</u></b> <br><i><font style="font-size: 9px">dterm_notch_hz, dterm_notch_cutoff</font></i><br></font>" style="text;html=1;align=left;verticalAlign=middle;resizable=0;points=[];autosize=1;fontSize=12;" parent="RuyqhTZgdlnSvw2_jLQb-153" vertex="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-161" value="Feedforward" style="whiteSpace=wrap;html=1;fillColor=#FFFFFF;fontSize=12;" parent="RuyqhTZgdlnSvw2_jLQb-54" vertex="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-162" style="edgeStyle=orthogonalEdgeStyle;rounded=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;strokeWidth=2;strokeColor=#FF9933;" parent="RuyqhTZgdlnSvw2_jLQb-54" source="RuyqhTZgdlnSvw2_jLQb-163" target="RuyqhTZgdlnSvw2_jLQb-161" edge="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-166" value="d/dt" style="whiteSpace=wrap;html=1;aspect=fixed;fillColor=#FFFFFF;fontSize=12;" parent="RuyqhTZgdlnSvw2_jLQb-54" vertex="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-168" value="FF-Smoothing" style="whiteSpace=wrap;html=1;fillColor=#FFFFFF;fontSize=12;" parent="RuyqhTZgdlnSvw2_jLQb-54" vertex="1">
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<mxCell id="RuyqhTZgdlnSvw2_jLQb-169" style="edgeStyle=orthogonalEdgeStyle;rounded=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeColor=#000000;strokeWidth=2;exitX=0.5;exitY=1;exitDx=0;exitDy=0;" parent="RuyqhTZgdlnSvw2_jLQb-54" source="RuyqhTZgdlnSvw2_jLQb-170" target="RuyqhTZgdlnSvw2_jLQb-168" edge="1">
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