Betaflight 2.9 has an option “d term method”, which has options for “error” and “measurement”. What is “d term from error” vs. “d term from measurement”?

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Betaflight 2.9 has an option “d term method”, which has options for “error” and “measurement”. What is “d term from error” vs. “d term from measurement”?

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this video explains that Betaflight 2.9 has an option “d term method”, which has options for “error” and “measurement”. It explains the difference between “d term from error” and “d term from measurement”.
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