airforce.unix7.org

pre.js.txt

set platform_type	= MULTIROTOR
set motor_pwm_protocol	= DSHOT600
set gyro_hardware_lpf	= 256HZ
set looptime	= 250

set gyro_lpf_hz	= 130
set gyro_lpf_type	= PT1
set gyro_stage2_lowpass_hz	= 150
set gyro_stage2_lowpass_type	= PT1

set dterm_lpf_hz	= 100
set dterm_lpf_type	= PT1
set dterm_lpf2_hz	= 150
set dterm_lpf2_type	= PT1

set use_dterm_fir_filter	= OFF
set mc_iterm_relax_type	= SETPOINT
set mc_iterm_relax	= RP

set d_boost_factor	= 1.5
set d_boost_max_at_acceleration	= 5000
set d_boost_gyro_delta_lpf_hz	= 80

set antigravity_gain	= 2
set antigravity_accelerator	= 5

set rc_yaw_expo	= 70
set rc_expo	= 70
set roll_rate	= 70
set pitch_rate	= 70
set yaw_rate	= 60

set mc_p_pitch	= 38
set mc_i_pitch	= 55
set mc_d_pitch	= 25

set mc_p_roll	= 35
set mc_i_roll	= 50
set mc_d_roll	= 25

set mc_p_yaw	= 45
set mc_i_yaw	= 70

set mc_airmode_type	= THROTTLE_THRESHOLD

set dynamic_gyro_notch_enabled	= ON
set dynamic_gyro_notch_q	= 150
set dynamic_gyro_notch_min_hz	= 150

set min_check	= 1050
set throttle_idle	= 12
set dterm_setpoint_weight	= 0.5

set platform_type	= MULTIROTOR
set motor_pwm_protocol	= DSHOT600
set gyro_hardware_lpf	= 256HZ
set looptime	= 500

set gyro_lpf_hz	= 110
set gyro_lpf_type	= PT1
set gyro_stage2_lowpass_hz	= 250
set gyro_stage2_lowpass_type	= PT1

set dterm_lpf_hz	= 100
set dterm_lpf_type	= PT1

set use_dterm_fir_filter	= OFF
set mc_iterm_relax_type	= SETPOINT
set mc_iterm_relax	= RP
set d_boost_factor	= 1.5
set d_boost_max_at_acceleration	= 7500
set d_boost_gyro_delta_lpf_hz	= 80
set antigravity_gain	= 2
set antigravity_accelerator	= 5
set rc_yaw_expo	= 70
set rc_expo	= 70

set roll_rate	= 70
set pitch_rate	= 70
set yaw_rate	= 60

set mc_p_pitch	= 44
set mc_i_pitch	= 60
set mc_d_pitch	= 25

set mc_p_roll	= 40
set mc_i_roll	= 50
set mc_d_roll	= 23

set mc_p_yaw	= 45
set mc_i_yaw	= 70

set mc_airmode_type	= THROTTLE_THRESHOLD
set dynamic_gyro_notch_enabled	= ON
set dynamic_gyro_notch_q	= 200
set dynamic_gyro_notch_min_hz	= 150
set min_check	= 1050
set throttle_idle	= 12
set dterm_setpoint_weight	= 0.85

set platform_type	= MULTIROTOR
set motor_pwm_protocol	= DSHOT600
set gyro_hardware_lpf	= 256HZ
set looptime	= 250
set gyro_lpf_hz	= 115
set gyro_lpf_type	= PT1
set gyro_stage2_lowpass_hz	= 0
set gyro_stage2_lowpass_type	= PT1

set dterm_lpf_hz	= 110
set dterm_lpf_type	= PT1
set dterm_lpf2_hz	= 170
set dterm_lpf2_type	= PT1
set use_dterm_fir_filter	= OFF
set mc_iterm_relax_type	= SETPOINT
set mc_iterm_relax	= RP
set d_boost_factor	= 1.5
set d_boost_max_at_acceleration	= 7500
set d_boost_gyro_delta_lpf_hz	= 80
set antigravity_gain	= 2
set antigravity_accelerator	= 5
set rc_yaw_expo	= 70
set rc_expo	= 70
set roll_rate	= 85
set pitch_rate	= 85
set yaw_rate	= 75

set mc_p_pitch	= 26
set mc_i_pitch	= 60
set mc_d_pitch	= 28

set mc_p_roll	= 22
set mc_i_roll	= 50
set mc_d_roll	= 24

set mc_p_yaw	= 44
set mc_i_yaw	= 70

set mc_airmode_type	= THROTTLE_THRESHOLD
set dynamic_gyro_notch_enabled	= ON
set dynamic_gyro_notch_q	= 200
set dynamic_gyro_notch_min_hz	= 140
set min_check	= 1050
set throttle_idle	= 12
set dterm_setpoint_weight	= 0.85

set platform_type	= MULTIROTOR
set motor_pwm_protocol	= DSHOT600
set gyro_hardware_lpf	= 256HZ
set looptime	= 500

set gyro_lpf_hz	= 100
set gyro_lpf_type	= PT1
set gyro_stage2_lowpass_hz	= 250
set gyro_stage2_lowpass_type	= PT1

set dterm_lpf_hz	= 90
set dterm_lpf_type	= PT1
set dterm_lpf2_hz	= 200
set dterm_lpf2_type	= PT1
set use_dterm_fir_filter	= OFF
set mc_iterm_relax_type	= SETPOINT
set mc_iterm_relax	= RP

set d_boost_factor	= 1.5
set d_boost_max_at_acceleration	= 5500
set d_boost_gyro_delta_lpf_hz	= 70

set antigravity_gain	= 2
set antigravity_accelerator	= 5

set rc_yaw_expo	= 70
set rc_expo	= 70

set roll_rate	= 70
set pitch_rate	= 70
set yaw_rate	= 60

set mc_p_pitch	= 37
set mc_i_pitch	= 70
set mc_d_pitch	= 22

set mc_p_roll	= 31
set mc_i_roll	= 50
set mc_d_roll	= 21

set mc_p_yaw	= 50
set mc_i_yaw	= 70

set mc_airmode_type	= THROTTLE_THRESHOLD
set dynamic_gyro_notch_enabled	= ON
set dynamic_gyro_notch_q	= 175
set dynamic_gyro_notch_min_hz	= 110
set min_check	= 1050
set throttle_idle	= 12
set dterm_setpoint_weight	= 0.7

set platform_type	= MULTIROTOR
set motor_pwm_protocol	= DSHOT600
set gyro_hardware_lpf	= 256HZ
set looptime	= 500
set gyro_lpf_hz	= 100
set gyro_lpf_type	= PT1
set gyro_stage2_lowpass_hz	= 160
set gyro_stage2_lowpass_type	= PT1
set dterm_lpf_hz	= 90
set dterm_lpf_type	= PT1
set dterm_lpf2_hz	= 0
set dterm_lpf2_type	= PT1
set use_dterm_fir_filter	= OFF
set mc_iterm_relax_type	= SETPOINT
set mc_iterm_relax	= RPY
set d_boost_factor	= 1.5
set d_boost_max_at_acceleration	= 5000
set d_boost_gyro_delta_lpf_hz	= 65
set antigravity_gain	= 2
set antigravity_accelerator	= 5
set rc_yaw_expo	= 70
set rc_expo	= 70
set roll_rate	= 70
set pitch_rate	= 70
set yaw_rate	= 60
set mc_p_pitch	= 44
set mc_i_pitch	= 60
set mc_d_pitch	= 25
set mc_p_roll	= 40
set mc_i_roll	= 50
set mc_d_roll	= 25
set mc_p_yaw	= 45
set mc_i_yaw	= 70
set mc_airmode_type	= THROTTLE_THRESHOLD
set dynamic_gyro_notch_enabled	= ON
set dynamic_gyro_notch_q	= 200
set dynamic_gyro_notch_min_hz	= 80
set min_check	= 1050
set throttle_idle	= 12
set dterm_setpoint_weight	= 0.8

set platform_type	        = MULTIROTOR
set motor_pwm_protocol	= DSHOT600
set gyro_hardware_lpf	= 256HZ
set looptime	                        = 500
set gyro_lpf_hz	                = 60
set gyro_lpf_type	                = PT1
set gyro_stage2_lowpass_hz	= 120
set gyro_stage2_lowpass_type	= PT1
set dterm_lpf_hz	        = 60
set dterm_lpf_type	= PT1
set dterm_lpf2_hz	= 0
set dterm_lpf2_type	= PT1
set use_dterm_fir_filter	= OFF
set mc_iterm_relax_type	= SETPOINT
set mc_iterm_relax	= RPY
set d_boost_factor	= 1.5
set d_boost_max_at_acceleration	= 5000
set d_boost_gyro_delta_lpf_hz	= 50
set antigravity_gain	= 2
set antigravity_accelerator	= 5
set rc_yaw_expo	= 70
set rc_expo	        = 70
set roll_rate	        = 70
set pitch_rate	= 70
set yaw_rate	        = 60
set mc_p_pitch	= 44
set mc_i_pitch	= 60
set mc_d_pitch	= 25
set mc_p_roll	= 40
set mc_i_roll	        = 50
set mc_d_roll	= 25
set mc_p_yaw	= 45
set mc_i_yaw	= 70
set mc_airmode_type	= THROTTLE_THRESHOLD
set dynamic_gyro_notch_enabled	= ON
set dynamic_gyro_notch_q	= 150
set dynamic_gyro_notch_min_hz	= 60
set min_check	= 1050
set throttle_idle	= 12
set dterm_setpoint_weight	= 0.3
set heading_hold_rate_limit	= 30