MAMBAF722 Config Snippets (#35)

MAMBAF722 Config Snippets

MAMBAF722-upgrade.cf

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+# 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.
+
+dma pin a09 1
+dma pin a08 1 
+dma pin c09 0
+dma pin c08 1
+
+# 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

MAMBAF722.cf

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+# 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.
+
+dma pin a09 1
+dma pin a08 1 
+dma pin c09 0
+dma pin c08 1
+
+# 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

boards/MAMBAF722

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+dma pin a09 1
+dma pin a08 1 
+dma pin c09 0
+dma pin c08 1