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

# works most reliably with DShot600

set motor_pwm_protocol=DSHOT600

# basic settings required to enable rpm filtering:

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

# enable debugging of rpm related settings (optional)

set debug_mode=rpm_filter

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

set dyn_notch_width_percent = 0
set dyn_notch_q = 250

# set dterm lowpass 1

set dyn_lpf_dterm_min_hz = 150
set dyn_lpf_dterm_max_hz = 250

# turn off dterm lowpass 2 to reduce delay

set dterm_lowpass2_hz = 0

# turn off 1st gyro lpf and dynamic gyro lpf to reduce delay

set gyro_lowpass_hz = 0
set dyn_lpf_gyro_min_hz = 0

# Enable static gyro lowpass filter 2 at 150hz pt1 on gyro to
# eliminate any broadband residual noise.  your quad might not need
# this - if motors are cold try removing it.

set gyro_lowpass2_hz = 150
set gyro_lowpass2_type = PT1

# Increase the d_min boost_gain to ramp up D faster when prop wash is
# encountered. This change can cause stick feel to change a bit due to
# higher D and will increase noise. Stick sharpness can be increased
# using FF to compensate.

set d_min_boost_gain=35

######################################################################
# The following settings increase d_min to allow a faster D response to
# prop wash. These changes can cause stick feel to change a bit due to
# higher D and will increase noise. Stick sharpness can be increased
# using FF to compensate.

# set d_min_pitch=29
# set d_min_roll=27