Full Gyro & RPM Filtering - Physics 7.99

Flight physics rate

• Chirp async physics 600 Hz → 1440 Hz (this is the minimum required to run RPM filtering)

Motor / prop / frame noise — new system, none of this existed before

• Per-motor 1P imbalance tone with real ω² scaling

• 2P misalignment line (new)

• 3P blade-pass recalibrated against real wind-tunnel data

• Frame + polycarbonate-prop resonance (230 Hz), so tones flare as they sweep through it — the real spectrogram "stripe" behavior

• Broadband noise floor, RPM-scaled so it fades with the props

• All calibrated against real 5" 6S blackbox logs

Filtering — completely rebuilt

• RPM filter ON (3 harmonics, Q30) — didn't exist in the last build

• Gyro LPF1 3000 → 0 (off), LPF2 off — fully open gyro path

• D-term LPF 40 → 120

• Net effect: motor noise removed surgically instead of by broadband lag, which is what gives the connected stick feel

Motor RPM realism

• Max RPM 36,500 → 32,000, calibrated from real bidirectional-DShot logs and manufacturer bench tables

Airframe / balance fixes

• CoM auto-centres to the motor rectangle — fixed a standing roll/pitch imbalance

• All four motors now idle evenly on arm (previously one pair sat dead until throttle)

• Digital idle (MotorIdleRpm) — fixes thrust washout over the top of a powerloop

• I-term relax now actually runs (it was dead code passing a literal 0)

Free-fall behaviour

• Descent thrust ceiling — arresting a fall now takes real throttle and real timing instead of a nudge

Yaw

• Physical-plant yaw mode + physically spinning prop bodies, so reaction torque emerges from the sim

Tune

• Balanced: Roll 57/40/30/F90 · Pitch 57/40/32/F90 · Yaw 100/45/0/F90, hover point 0.14

Levels

• Buffalo Rd Park now includes The Hurdle Magazine (400m & 200m indoor track), Riman Skatepark (2 outdoor skate parks), Camera Butter Youth baseball field, EXP Realty Youth baseball field.

• Buffalo Rd Park has 3 spaces available for sponsors

  • 200ft Youth Baseball Field

  • Turtle Pond (400m 8-lane walking track with giant turtle statue)

  • 250ft adult baseball field

  • 350ft adult baseball field

Remember to Click Steam > EXIT, and then re-open Steam, so that Myoka auto-updates!

Coming Soon:

• Full Day/Night Cycle

• Better park audio

• more birds flying in the park

• squirrels scattering about

• pedestrians walking the park

• cars driving/parking in the park

• pedestrians running around the tracks

• TinyWhoops

• 2-3" full-acro quads

• 15+ more levels (need to be re-optimized for the 1440fps physics timing)