π SpaceX #24 Pogo oscillation (Β±2cm at 20Hz) during landing burn creates velocity variation at catch pins that aliases into force measurement errors.
A digital notch filter introduces 50ms delay at 0.5 m/s catch speed, that's 2.5cm of error, exceeding tolerance.
Fix: analog accelerometers on the arm do feed-forward cancellation with 1ms phase matching. Old-school engineering. π§΅