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all right so today were going to talk about how to use feed-forward to get closer tracking to setpoint were gonna also talk about how you can use demon or were gonna use it in the case of Debus to prevent overshoot as you add in more feed-forward gains for sharp flips rolls and just sharp moves going doing slaloms and things like that so lets get into it okay so before we get into the field tuning of the feed-forward I we had to make a switch up in the quad the quad I had before the 6s theres some mechanical issues with the gyro there was some spiking but what were going to move forward with now is a4s rig this is mine its nothing super special its a Martian to frame our CX 22:06 2500 kV its around 722 grams so its kind of heavy I do have two flight controllers on this right now I have the SP Racing f7 duel and then the SP Racing h7 duel up here so were gonna be doing some stuff in that in the future here in a video but this is the rig were moving forward with on this unti