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nerdCopter edited this page Apr 11, 2022
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- It's imperative that in the preset_note, it states if Dynamic Gyro Filter (
feature DYNAMIC_FILTER) is recommended or not.
"Xinch-XS-XXXX-XXXXkv-PilotName-FlyStyle":{
"preset_note": "0.4.0 defaults. D-Term LPF type PT(n) may need low D-Terms. D-Term LPF type BiQuad will tolerate high D-Terms. PT(n) will react faster, but be less tolerant. Dynamic Gyro Filter cannot be toggled ON/OFF via presets and is ON by default.",
"build_motors": "",
"build_frame": "5 inch",
"build_props": "5 inch",
"build_battery": "",
"__comment": "*** PIDs ***",
"p_roll": 50,
"i_roll": 70,
"d_roll": 28,
"p_pitch": 58,
"i_pitch": 70,
"d_pitch": 30,
"p_yaw": 60,
"i_yaw": 70,
"d_yaw": 5,
"__comment": "*** PID Options ***",
"df_yaw": 15,
"throttle_boost": 5,
"i_decay": 4,
"emu_boost": 15,
"emu_boost_limit": 20,
"emu_boost_yaw": 40,
"emu_boost_limit_yaw": 40,
"feathered_pids": 100,
"iterm_rotation": "ON",
"iterm_relax2_cutoff": 11,
"iterm_relax2_cutoff_yaw": 25,
"emu_gravity": 50,
"__comment": "*** Filters IMUF ***",
"imuf_roll_q": 6000,
"imuf_pitch_q": 6000,
"imuf_yaw_q": 6000,
"imuf_w": 32,
"imuf_pitch_lpf_cutoff_hz": 0,
"imuf_roll_lpf_cutoff_hz": 0,
"imuf_yaw_lpf_cutoff_hz": 0,
"imuf_ptn_order": 1,
"__comment": "*** Filters Gyro *** type: 0=PT1, 1=BiQuad, 2=PT2, 3=PT3, 4=PT4. Usually remain OFF/0 for Helio",
"gyro_lowpass_enabled": "ON",
"gyro_lowpass_type": 0,
"gyro_lowpass_hz_roll": 115,
"gyro_lowpass_hz_pitch": 115,
"gyro_lowpass_hz_yaw": 105,
"gyro_lowpass2_enabled": "OFF",
"gyro_lowpass2_type": 0,
"gyro_lowpass2_hz_roll": 0,
"gyro_lowpass2_hz_pitch": 0,
"gyro_lowpass2_hz_yaw": 0,
"gyro_notch1_enabled": "OFF",
"gyro_notch1_hz": 0,
"gyro_notch1_cutoff": 0,
"gyro_notch2_enabled": "OFF",
"gyro_notch2_hz": 0,
"gyro_notch2_cutoff": 0,
"__comment": "*** Dynamic Gyro Filter ***; dynamic_filter variable is only a placeholder, does not act.",
"dynamic_filter": "ON",
"dynamic_gyro_notch_q": 350,
"dynamic_gyro_notch_count": 3,
"dynamic_gyro_notch_min_hz": 150,
"dynamic_gyro_notch_max_hz": 600,
"__comment": "*** Filters dTerm *** type: type: 0=PT1, 1=BiQuad, 2=PT2, 3=PT3, 4=PT4.",
"dterm_lowpass_enabled": "ON",
"dterm_lowpass_type": 0,
"dterm_lowpass_hz_roll": 90,
"dterm_lowpass_hz_pitch": 90,
"dterm_lowpass_hz_yaw": 90,
"dterm_lowpass2_enabled": "ON",
"dterm_lowpass2_type": 0,
"dterm_lowpass2_hz_roll": 200,
"dterm_lowpass2_hz_pitch": 200,
"dterm_lowpass2_hz_yaw": 200,
"dterm_notch_enabled": "OFF",
"dterm_notch_hz": 0,
"dterm_notch_cutoff": 0,
"__comment": "*** Dynamic D Term Filter ***",
"dterm_dyn_notch_enable": "OFF",
"dterm_dyn_notch_q": 400,
"__comment": "*** Filter Options *** ",
"smith_predict_enabled": "ON",
"gyro_ABG_alpha": 0,
"gyro_ABG_boost": 275,
"gyro_ABG_half_life": 50,
"dterm_ABG_alpha": 0,
"dterm_ABG_boost": 275,
"dterm_ABG_half_life": 50,
"__comment": "*** TPA (RateProfile) ***",
"tpa_breakpoint": 1600,
"tpa_rate_p": 75,
"tpa_rate_i": 125,
"tpa_rate_d": 65,
"spa_rate_p_roll": 110,
"spa_rate_i_roll": 85,
"spa_rate_d_roll": 110,
"spa_rate_p_pitch": 110,
"spa_rate_i_pitch": 85,
"spa_rate_d_pitch": 110,
"spa_rate_p_yaw": 130,
"spa_rate_i_yaw": 70,
"spa_rate_d_yaw": 130,
"__comment": "*** Feel Options ***",
"__comment": "*** Motor Output Mixer: 0=LEGACY,1=SMOOTH,2=2PASS",
"mixer_impl": 2,
"mixer_laziness": "OFF",
"mixer_yaw_throttle_comp": "ON",
"linear_thrust_low_output": 65,
"linear_thrust_high_output": 0,
"axis_lock_multiplier": 0,
"axis_lock_hz": 2
}, "Xinch-XS-XXXX-XXXXkv-PilotName-FlyStyle":{
"preset_note": "0.4.0 Helio/Strix defaults. D-Term LPF type PT(n) may need low D-Terms. D-Term LPF type BiQuad will tolerate high D-Terms. PT(n) will react faster, but be less tolerant. Dynamic Gyro Filter cannot be toggled ON/OFF via presets and is OFF on Helio/Strix by default.",
"build_motors": "",
"build_frame": "5 inch",
"build_props": "5 inch",
"build_battery": "",
"__comment": "*** PIDs ***",
"p_roll": 50,
"i_roll": 70,
"d_roll": 28,
"p_pitch": 58,
"i_pitch": 70,
"d_pitch": 30,
"p_yaw": 60,
"i_yaw": 70,
"d_yaw": 5,
"__comment": "*** PID Options ***",
"df_yaw": 15,
"throttle_boost": 5,
"i_decay": 4,
"emu_boost": 15,
"emu_boost_limit": 20,
"emu_boost_yaw": 40,
"emu_boost_limit_yaw": 40,
"feathered_pids": 100,
"iterm_rotation": "ON",
"iterm_relax2_cutoff": 11,
"iterm_relax2_cutoff_yaw": 25,
"emu_gravity": 50,
"__comment": "*** Filters IMUF ***",
"imuf_roll_q": 6000,
"imuf_pitch_q": 6000,
"imuf_yaw_q": 6000,
"imuf_w": 32,
"imuf_pitch_lpf_cutoff_hz": 90,
"imuf_roll_lpf_cutoff_hz": 90,
"imuf_yaw_lpf_cutoff_hz": 90,
"imuf_ptn_order": 3,
"__comment": "*** Filters Gyro *** type: 0=PT1, 1=BiQuad, 2=PT2, 3=PT3, 4=PT4. Usually remain OFF/0 for Helio",
"gyro_lowpass_enabled": "OFF",
"gyro_lowpass_type": 0,
"gyro_lowpass_hz_roll": 0,
"gyro_lowpass_hz_pitch": 0,
"gyro_lowpass_hz_yaw": 0,
"gyro_lowpass2_enabled": "OFF",
"gyro_lowpass2_type": 0,
"gyro_lowpass2_hz_roll": 0,
"gyro_lowpass2_hz_pitch": 0,
"gyro_lowpass2_hz_yaw": 0,
"gyro_notch1_enabled": "OFF",
"gyro_notch1_hz": 0,
"gyro_notch1_cutoff": 0,
"gyro_notch2_enabled": "OFF",
"gyro_notch2_hz": 0,
"gyro_notch2_cutoff": 0,
"__comment": "*** Dynamic Gyro Filter ***; dynamic_filter variable is only a placeholder, does not act.",
"dynamic_filter": "ON",
"dynamic_gyro_notch_q": 400,
"dynamic_gyro_notch_count": 3,
"dynamic_gyro_notch_min_hz": 150,
"dynamic_gyro_notch_max_hz": 600,
"__comment": "*** Filters dTerm *** type: type: 0=PT1, 1=BiQuad, 2=PT2, 3=PT3, 4=PT4.",
"dterm_lowpass_enabled": "ON",
"dterm_lowpass_type": 0,
"dterm_lowpass_hz_roll": 90,
"dterm_lowpass_hz_pitch": 90,
"dterm_lowpass_hz_yaw": 90,
"dterm_lowpass2_enabled": "ON",
"dterm_lowpass2_type": 0,
"dterm_lowpass2_hz_roll": 200,
"dterm_lowpass2_hz_pitch": 200,
"dterm_lowpass2_hz_yaw": 200,
"dterm_notch_enabled": "OFF",
"dterm_notch_hz": 0,
"dterm_notch_cutoff": 0,
"__comment": "*** Dynamic D Term Filter ***",
"dterm_dyn_notch_enable": "OFF",
"dterm_dyn_notch_q": 400,
"__comment": "*** Filter Options *** ",
"smith_predict_enabled": "ON",
"gyro_ABG_alpha": 0,
"gyro_ABG_boost": 275,
"gyro_ABG_half_life": 50,
"dterm_ABG_alpha": 0,
"dterm_ABG_boost": 275,
"dterm_ABG_half_life": 50,
"__comment": "*** TPA (RateProfile) ***",
"tpa_breakpoint": 1600,
"tpa_rate_p": 75,
"tpa_rate_i": 125,
"tpa_rate_d": 65,
"spa_rate_p_roll": 110,
"spa_rate_i_roll": 85,
"spa_rate_d_roll": 110,
"spa_rate_p_pitch": 110,
"spa_rate_i_pitch": 85,
"spa_rate_d_pitch": 110,
"spa_rate_p_yaw": 130,
"spa_rate_i_yaw": 70,
"spa_rate_d_yaw": 130,
"__comment": "*** Feel Options ***",
"__comment": "*** Motor Output Mixer: 0=LEGACY,1=SMOOTH,2=2PASS",
"mixer_impl": 2,
"mixer_laziness": "OFF",
"mixer_yaw_throttle_comp": "ON",
"linear_thrust_low_output": 65,
"linear_thrust_high_output": 0,
"axis_lock_multiplier": 0,
"axis_lock_hz": 2
},