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Community Presets

UAV Tech edited this page May 21, 2019 · 10 revisions

BF 4.0.X

UAV TECH

**ALWAYS CHECK YOUR MOTOR TEMPS AFTER A SHORT 15 SECOND FORWARD FLIGHT**

Brushed \ Brushless Whoop Class

#Filter Settings
set gyro_lowpass_type = PT1
set dyn_notch_min_hz = 150
set dyn_lpf_gyro_min_hz = 150
set dyn_lpf_gyro_max_hz = 750
set dyn_lpf_dterm_min_hz = 150
set dyn_lpf_dterm_max_hz = 250
set dterm_lowpass_type = BiQUAD
set dterm_lowpass2_hz = 0

#PID Gains Settings
set vbat_pid_gain = ON
set anti_gravity_gain = 5000
set p_pitch = 33
set i_pitch = 85
set d_pitch = 35
set p_roll = 28
set i_roll = 78
set d_roll = 32
set d_min_pitch = 18
set d_min_roll = 16
set d_min_boost_gain = 30
set d_min_advance = 0

#Assumes Freestyle | For racing use "Setpoint" and cutoff = 20
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 11

#TPA Settings (which is D-term only by default)
set tpa_rate = 80
set tpa_breakpoint = 1800

2" - 3" Quad - 11xx-12xx Motors

(in coordination with George Hartmann)

#Filter Settings
set gyro_lowpass_type = BiQUAD
set dyn_notch_min_hz = 150
set dyn_lpf_gyro_min_hz = 150
set dyn_lpf_gyro_max_hz = 700
set dyn_lpf_dterm_min_hz = 150
set dyn_lpf_dterm_max_hz = 250
set dterm_lowpass_type = BiQUAD
set dterm_lowpass2_hz = 150

#PID Gains Settings
set vbat_pid_gain = ON
set anti_gravity_gain = 5000
set p_pitch = 33
set i_pitch = 85
set d_pitch = 35
set p_roll = 28
set i_roll = 78
set d_roll = 32
set d_min_pitch = 18
set d_min_roll = 16
set d_min_boost_gain = 30
set d_min_advance = 0

#Assumes Freestyle | For racing use "Setpoint" and cutoff = 20
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 11

#With RPM Filter | Without leave at = 8 (default) OR set to 0 if you can afford less filtering
set dyn_notch_width_percent = 0

#TPA Settings (which is D-term only by default)
set tpa_rate = 80
set tpa_breakpoint = 1800

3" Quad - 14xx-15xx Motors

(in coordination with George Hartmann)

#Filter Settings
set gyro_lowpass_type = BiQUAD
set dyn_notch_min_hz = 150
set dyn_lpf_gyro_min_hz = 150
set dyn_lpf_gyro_max_hz = 650
set dyn_lpf_dterm_min_hz = 150
set dyn_lpf_dterm_max_hz = 250
set dterm_lowpass_type = BiQUAD
set dterm_lowpass2_hz = 150

#PID Gains Settings
set vbat_pid_gain = ON
set anti_gravity_gain = 5000
set p_pitch = 38
set i_pitch = 85
set d_pitch = 35
set p_roll = 35
set i_roll = 78
set d_roll = 32
set d_min_pitch = 18
set d_min_roll = 16
set d_min_boost_gain = 30
set d_min_advance = 0

#Assumes Freestyle | For racing use "Setpoint" and cutoff = 20
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 11

#With RPM Filter | Without leave at = 8 (default) OR set to 0 if you can afford less filtering
set dyn_notch_width_percent = 0

#TPA Settings (which is D-term only by default)
set tpa_rate = 80
set tpa_breakpoint = 1800

5" Quad (3s-4s)

Clean build:

Gyro_Scaled spectrograms for a full hard flight look like the below or better: "Clean Build" (which isn't that crazy clean): https://github.com/spatzengr/UAVtech-Resources/blob/master/Gyro_Raw%20Noise%20Profiles/Clean/Nova%20on%20BF4.0.png

#Filter Settings
set gyro_lowpass_type = PT1
set dyn_notch_min_hz = 100
set dyn_lpf_gyro_max_hz = 510
set dterm_lowpass_type = PT1
set dterm_lowpass2_hz = 0

#PID Gains Settings
set vbat_pid_gain = ON
set anti_gravity_gain = 10000
set d_pitch = 58
set d_roll = 55
set d_min_pitch = 38
set d_min_roll = 35
set d_min_boost_gain = 45
set d_min_advance = 0

#Assumes Freestyle | For racing use "Setpoint" and cutoff = 20
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 11

#With RPM Filter | Without leave at = 8 (default) OR set to 0 if you can afford less filtering
set dyn_notch_width_percent = 0

#TPA Settings (which is D-term only by default)
set tpa_rate = 80
set tpa_breakpoint = 1800

6"/7" Quads

#Filter Settings
set gyro_lowpass_type = PT1
set dyn_notch_min_hz = 100
set dyn_lpf_gyro_min_hz = 100
set dyn_lpf_gyro_max_hz = 300
set dyn_lpf_dterm_min_hz = 100
set dyn_lpf_dterm_max_hz = 200
set dterm_lowpass_type = PT1
set dterm_lowpass2_hz = 0

#PID Gains Settings
set vbat_pid_gain = ON
set anti_gravity_gain = 10000
set d_pitch = 58
set d_roll = 55
set d_min_pitch = 28
set d_min_roll = 25
set d_min_boost_gain = 45
set d_min_advance = 0

#Assumes Freestyle | For racing use "Setpoint" and cutoff = 20
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 11

#With RPM Filter | Without leave at = 8 (default) OR set to 0 if you can afford less filtering
set dyn_notch_width_percent = 0

#TPA Settings (which is D-term only by default)
set tpa_rate = 80
set tpa_breakpoint = 1800

X-Class [IN PROGRESS!!!]

#Filter Settings
set gyro_lowpass_type = PT1
set dyn_notch_min_hz = 50
set dyn_lpf_gyro_min_hz = 50
set dyn_lpf_gyro_max_hz = 200
set dyn_lpf_dterm_min_hz = 60
set dyn_lpf_dterm_max_hz = 150
set dterm_lowpass_type = BIQUAD
set dterm_lowpass2_hz = 0

#PID Gains Settings
set vbat_pid_gain = ON
set anti_gravity_gain = 10000
set d_pitch = ??
set d_roll = ??
set d_min_pitch = ??
set d_min_roll = ??
set d_min_boost_gain = 45
set d_min_advance = 0

#Assumes Freestyle | For racing use "Setpoint" and cutoff = 20
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 11

#With RPM Filter | Without leave at = 8 (default) OR set to 0 if you can afford less filtering
set dyn_notch_width_percent = 8

#TPA Settings (which is D-term only by default)
set tpa_rate = 80
set tpa_breakpoint = 1750

PID Tuning Preset

#Filter Settings
set dyn_notch_min_hz = 80
set gyro_lowpass_type = PT1
set dyn_lpf_gyro_min_hz = 100
set dyn_lpf_gyro_max_hz = 350
set gyro_lowpass2_hz = 0
set dterm_lowpass_type = BiQUAD
set dyn_lpf_dterm_min_hz = 60
set dyn_lpf_dterm_max_hz = 175
set dterm_lowpass2_hz = 0

#PID Gains Settings
set vbat_pid_gain = ON
set anti_gravity_gain = 10000
set f_pitch = 0
set f_roll = 0
set f_yaw = 0
set d_min_pitch = 0
set d_min_roll = 0

#PID Controller Settings
set feedforward_transition = 0
set abs_control_gain = 0
set use_integrated_yaw = OFF
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 11

#TPA Settings (which is D-term only by default)
set tpa_rate = 80
set tpa_breakpoint = 1800

RipperDrone

5" Quad (5s-6s)

#Filter Settings
set gyro_lowpass_type = PT1
set dyn_notch_min_hz = 100
set dyn_lpf_gyro_max_hz = 510
set dterm_lowpass_type = PT1
set dterm_lowpass2_hz = 0

#PID Gains Settings
set vbat_pid_gain = ON
set anti_gravity_gain = 10000
set p_pitch = 35
set d_pitch = 25
set f_pitch = 32
set p_roll = 33
set d_roll = 23
set f_roll = 30
set p_yaw = 30
set i_yaw = 90
set d_min_roll = 0
set d_min_pitch = 0

REVERT TO AN OLDER VERSION OF BETAFLIGHT

Revert to BF 3.5.X

#Features to be off by Default
feature -AIRMODE

# Filter Settings
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 100
set gyro_lowpass2_type = PT1
set gyro_lowpass2_hz = 300

set dyn_lpf_gyro_min_hz = 0
set dyn_lpf_dterm_min_hz = 0

set dyn_notch_range = Auto
set dyn_notch_width_percent = 0
set dyn_notch_q = 70
set dyn_notch_min_hz = 130

set dterm_lowpass_type = PT1
set dterm_lowpass_hz = 100
set dterm_lowpass2_type = PT1
set dterm_lowpass2_hz = 200

set d_min_roll = 0
set d_min_pitch = 0
set d_min_yaw = 0

# Default PIDs
set p_pitch = 50
set i_pitch = 50
set d_pitch = 27
set f_pitch = 60
set p_roll = 46
set i_roll = 45
set d_roll = 25
set f_roll = 60
set p_yaw = 65
set i_yaw = 45
set d_yaw = 0
set f_yaw = 60

#PID Controller Settings
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 11
set abs_control_gain = 0
set use_integrated_yaw = OFF

set tpa_mode = PD
set tpa_rate = 10
set tpa_breakpoint = 1650

#RC smoothing settings
set rc_smoothing_type = INTERPOLATION

Revert to BF 3.4.X

#Features to be off by Default
feature -AIRMODE

# Filter Settings
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 100
set gyro_lowpass2_type = PT1
set gyro_lowpass2_hz = 300

set dyn_lpf_gyro_min_hz = 0
set dyn_lpf_dterm_min_hz = 0

set dyn_notch_range = Low
set dyn_notch_width_percent = 0
set dyn_notch_q = 70
set dyn_notch_min_hz = 125

set dterm_lowpass_type = PT1
set dterm_lowpass_hz = 100
set dterm_lowpass2_type = PT1
set dterm_lowpass2_hz = 200

set d_min_roll = 0
set d_min_pitch = 0
set d_min_yaw = 0

# Default PIDs
set p_pitch = 50
set i_pitch = 50
set d_pitch = 27
set f_pitch = 150
set p_roll = 46
set i_roll = 45
set d_roll = 25
set f_roll = 150
set p_yaw = 70
set i_yaw = 45
set d_yaw = 0
set f_yaw = 0

#PID Controller Settings
set feedforward_transition = 0
set abs_control_gain = 0
set use_integrated_yaw = OFF
set anti_gravity_gain = 5000

#I-term Relax is OFF by Default
set iterm_relax_type = Setpoint
set iterm_relax_cutoff = 100
#if you turn on i-Term Relax, 3.4 defaults are below (take "#" off front)
#set iterm_relax_type = Gyro
#set iterm_relax_cutoff = 11

set tpa_mode = PD
set tpa_rate = 10
set tpa_breakpoint = 1650

#RC smoothing settings
set rc_smoothing_type = INTERPOLATION

Revert to BF 3.2.x & 3.3.X (they were the same)

#Features to be off by Default
feature -AIRMODE
feature -DYNAMIC_FILTER
feature -ANTI_GRAVITY

# Filter Settings
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 90
set gyro_lowpass2_type = PT1
set gyro_lowpass2_hz = 0

set dyn_lpf_gyro_min_hz = 0
set dyn_lpf_dterm_min_hz = 0

set gyro_notch1_hz = 400
set gyro_notch1_cutoff = 300
set gyro_notch2_hz = 200
set gyro_notch2_cutoff = 100

set dyn_notch_range = Low
set dyn_notch_width_percent = 0
set dyn_notch_q = 70
set dyn_notch_min_hz = 125

set dterm_lowpass_type = BIQUAD
set dterm_lowpass_hz = 100
set dterm_lowpass2_type = PT1
set dterm_lowpass2_hz = 0
set dterm_notch_hz = 260
set dterm_notch_cutoff = 160

set d_min_roll = 0
set d_min_pitch = 0
set d_min_yaw = 0

# Default PIDs
set p_pitch = 58
set i_pitch = 50
set d_pitch = 35
set f_pitch = 0
set p_roll = 40
set i_roll = 40
set d_roll = 30
set f_roll = 0
set p_yaw = 70
set i_yaw = 45
set d_yaw = 0
set f_yaw = 0

#PID Controller Settings
set feedforward_transition = 0
set iterm_relax = OFF
set abs_control_gain = 0
set use_integrated_yaw = OFF
set anti_gravity_gain = 1000

set tpa_mode = PD
set tpa_rate = 10
set tpa_breakpoint = 1650

#RC smoothing settings
set rc_smoothing_type = INTERPOLATION

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