Devil in the Details (Betaflight 4.1 with Feed Forward 2, Dshot Telemetry, and RPM Filter)

It's been a minute since I got out to fly, but the weather was gorgeous this morning and there's new firmware to fly :D I loaded up Betaflight 4.1 with the new feed forward code, and dropped my usual test spot to give it a workout. Stock tune felt pretty good! Got a bit of d noise at very high throttle and very low throttle, but some tweaking of the TPA and filters should eliminate that pretty easily. Also trying the latest inverted dshot telemetry betas on BLHeli32 for RPM telemetry. I had a bit of trouble initially flashing 4.1 to my board, every time I enabled the smart audio uart, the board would lock up. Some of the vtxtables configuration modifications in 4.1 seem to be having some troubles with my configuration. Turns out the fix is to set up the vtxtables first, then enable the uart. Viola! It works! The last thing I still need to do is update my X10S to OpenTX 2.3, as that should show some improvements on latency between the radio and the FC. Overall though it felt pretty good for an un-tuned maiden. I'm still flying the Hurricane 51455 quad blade props. They handle prop wash super well even with minimal D and conservative filtering, so very pleased there. Just need to eliminate a tiny bit of noise, and I have no more complaints. The feed forward 2 stuff is noticeable in terms of direct stick movement. I did have a bit of overshoot on full stock settings, but upping my F on roll and pitch to 130 and setting FF Transition to 0.15 completely eliminated the issue. I will spend a bit more time fine tuning, but as usual I always enjoy the latest stuff the BF dev team is cramming into the new dev builds!