CLRACINGF4-upgrade.cf

# To enable RPM filtering, first apply these settings

# timer and DMA changes for this target. These will ensure that your
# quad can receive telemetry frames on the motor signal lines.

# m1-m4 usable

timer b00 1
timer b01 1
timer b04 none
timer b08 none

dma pin b00 0
dma pin b01 0
dma pin b04 none
dma pin b08 none

resource beeper 1 none
# set looptime to 4k to have enough computational time

set gyro_sync_denom = 2
set pid_process_denom = 1

# Start with dshot 300 which is most robust

set motor_pwm_protocol=DSHOT300

# basic settings required to enable rpm filtering:

set scheduler_optimize_rate=on
set dshot_burst=off
set dshot_bidir=on

# enable debugging for noise assessment

set debug_mode=gyro_scaled

# reconfigure dynamic notch filter to focus on narrow frame resonances
# since motor noise will already be eliminated by the rpm filter.

set dyn_notch_range = medium
set dyn_notch_width_percent = 0
set dyn_notch_q = 250