Experimental biquad RC fitler instead of RC interpolation #3740
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Current predictive approach to RC interpolation doesn't account for variable RX update frequency and in certain scenarios (end of rapid stick movement) can amplify rcCommand irregularity instead of smoothing it.
Biquad filter gives much better results and effectively eliminates effect known as D-term kick, thus allowing much higher than usual Dterm setpoint weights. This is especially noticeable on low-rate links (like CRSF at the egde of range - 5Hz mode).