diff --git a/AIKONF4-upgrade.cf b/AIKONF4-upgrade.cf index 0e47c94..1045b08 100644 --- a/AIKONF4-upgrade.cf +++ b/AIKONF4-upgrade.cf @@ -17,15 +17,14 @@ dma pin c09 0 timer b00 none timer b01 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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -33,50 +32,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/AIKONF4.cf b/AIKONF4.cf index 756c2d0..1045b08 100644 --- a/AIKONF4.cf +++ b/AIKONF4.cf @@ -17,15 +17,14 @@ dma pin c09 0 timer b00 none timer b01 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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -33,50 +32,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/ALIENFLIGHTNGF7-upgrade.cf b/ALIENFLIGHTNGF7-upgrade.cf index 3b97558..0e1734c 100644 --- a/ALIENFLIGHTNGF7-upgrade.cf +++ b/ALIENFLIGHTNGF7-upgrade.cf @@ -31,15 +31,14 @@ dma pin b01 0 dma pin b15 0 dma pin b08 0 dma pin b09 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -47,50 +46,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/ALIENFLIGHTNGF7.cf b/ALIENFLIGHTNGF7.cf index 6c7dd8f..0e1734c 100644 --- a/ALIENFLIGHTNGF7.cf +++ b/ALIENFLIGHTNGF7.cf @@ -31,15 +31,14 @@ dma pin b01 0 dma pin b15 0 dma pin b08 0 dma pin b09 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -47,50 +46,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/ANYFCM7-upgrade.cf b/ANYFCM7-upgrade.cf index c939f7e..8be70db 100644 --- a/ANYFCM7-upgrade.cf +++ b/ANYFCM7-upgrade.cf @@ -25,15 +25,14 @@ dma pin a01 0 dma pin b00 0 dma pin a00 0 dma pin b01 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -41,50 +40,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/ANYFCM7.cf b/ANYFCM7.cf index a2f5889..8be70db 100644 --- a/ANYFCM7.cf +++ b/ANYFCM7.cf @@ -25,15 +25,14 @@ dma pin a01 0 dma pin b00 0 dma pin a00 0 dma pin b01 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -41,50 +40,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/CLRACINGF4-upgrade.cf b/CLRACINGF4-upgrade.cf index 9b3d31e..1eaa879 100644 --- a/CLRACINGF4-upgrade.cf +++ b/CLRACINGF4-upgrade.cf @@ -16,15 +16,14 @@ 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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -32,50 +31,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/CLRACINGF4.cf b/CLRACINGF4.cf index 024979a..1eaa879 100644 --- a/CLRACINGF4.cf +++ b/CLRACINGF4.cf @@ -1,9 +1,5 @@ # To enable RPM filtering, first apply these settings -# get your beeper working correctly - -set beeper_frequency=0 - # timer and DMA changes for this target. These will ensure that your # quad can receive telemetry frames on the motor signal lines. @@ -19,14 +15,15 @@ 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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -34,50 +31,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/DALRCF4-upgrade.cf b/DALRCF4-upgrade.cf index 425b5f0..c75f63c 100644 --- a/DALRCF4-upgrade.cf +++ b/DALRCF4-upgrade.cf @@ -11,15 +11,14 @@ dma pin A10 1 dma pin A08 2 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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -27,50 +26,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/DALRCF4.cf b/DALRCF4.cf index c2544a9..c75f63c 100644 --- a/DALRCF4.cf +++ b/DALRCF4.cf @@ -11,15 +11,14 @@ dma pin A10 1 dma pin A08 2 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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -27,50 +26,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/DALRCF722DUAL-upgrade.cf b/DALRCF722DUAL-upgrade.cf index d606336..f3a04ce 100644 --- a/DALRCF722DUAL-upgrade.cf +++ b/DALRCF722DUAL-upgrade.cf @@ -18,15 +18,14 @@ dma pin c06 1 dma pin c07 1 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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -34,50 +33,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/DALRCF722DUAL.cf b/DALRCF722DUAL.cf index 11dc882..f3a04ce 100644 --- a/DALRCF722DUAL.cf +++ b/DALRCF722DUAL.cf @@ -18,15 +18,14 @@ dma pin c06 1 dma pin c07 1 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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -34,50 +33,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/DEFAULT-upgrade.cf b/DEFAULT-upgrade.cf index ad3487e..63f7c13 100644 --- a/DEFAULT-upgrade.cf +++ b/DEFAULT-upgrade.cf @@ -3,15 +3,14 @@ # timer and DMA changes for this target. These will ensure that your # quad can receive telemetry frames on the motor signal lines. - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -19,50 +18,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/DEFAULT.cf b/DEFAULT.cf index 2ae7da9..63f7c13 100644 --- a/DEFAULT.cf +++ b/DEFAULT.cf @@ -3,15 +3,14 @@ # timer and DMA changes for this target. These will ensure that your # quad can receive telemetry frames on the motor signal lines. - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -19,50 +18,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/EXF722DUAL-upgrade.cf b/EXF722DUAL-upgrade.cf index 45bf900..7326817 100644 --- a/EXF722DUAL-upgrade.cf +++ b/EXF722DUAL-upgrade.cf @@ -18,15 +18,14 @@ timer a01 1 dma pin a00 0 dma pin c06 1 dma pin a01 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -34,50 +33,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/EXF722DUAL.cf b/EXF722DUAL.cf index 7208a81..7326817 100644 --- a/EXF722DUAL.cf +++ b/EXF722DUAL.cf @@ -18,15 +18,14 @@ timer a01 1 dma pin a00 0 dma pin c06 1 dma pin a01 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -34,50 +33,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/FOXEERF722DUAL-upgrade.cf b/FOXEERF722DUAL-upgrade.cf index 42c6aad..adbdbf2 100644 --- a/FOXEERF722DUAL-upgrade.cf +++ b/FOXEERF722DUAL-upgrade.cf @@ -17,15 +17,14 @@ dma pin c08 0 dma pin c06 0 dma pin c07 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -33,50 +32,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/FOXEERF722DUAL.cf b/FOXEERF722DUAL.cf index d2f5341..adbdbf2 100644 --- a/FOXEERF722DUAL.cf +++ b/FOXEERF722DUAL.cf @@ -17,15 +17,14 @@ dma pin c08 0 dma pin c06 0 dma pin c07 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -33,50 +32,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/FURYF4SD-upgrade.cf b/FURYF4SD-upgrade.cf index ca8e389..a939a32 100644 --- a/FURYF4SD-upgrade.cf +++ b/FURYF4SD-upgrade.cf @@ -6,15 +6,14 @@ timer b01 1 dma pin b01 0 dma pin a00 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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -22,50 +21,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/FURYF4SD.cf b/FURYF4SD.cf index e66ba73..a939a32 100644 --- a/FURYF4SD.cf +++ b/FURYF4SD.cf @@ -6,15 +6,14 @@ timer b01 1 dma pin b01 0 dma pin a00 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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -22,50 +21,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/HAKRCF722-upgrade.cf b/HAKRCF722-upgrade.cf index a75a5df..baada19 100644 --- a/HAKRCF722-upgrade.cf +++ b/HAKRCF722-upgrade.cf @@ -24,15 +24,14 @@ dma pin a08 1 dma pin c07 0 dma pin a05 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -40,50 +39,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/HAKRCF722.cf b/HAKRCF722.cf index 11ca8ae..baada19 100644 --- a/HAKRCF722.cf +++ b/HAKRCF722.cf @@ -24,15 +24,14 @@ dma pin a08 1 dma pin c07 0 dma pin a05 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -40,50 +39,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/KISSFCV2F7-upgrade.cf b/KISSFCV2F7-upgrade.cf index baaf180..fbdcc9d 100644 --- a/KISSFCV2F7-upgrade.cf +++ b/KISSFCV2F7-upgrade.cf @@ -17,15 +17,14 @@ dma pin c06 0 dma pin c07 0 dma pin b03 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -33,50 +32,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/KISSFCV2F7.cf b/KISSFCV2F7.cf index 3287298..fbdcc9d 100644 --- a/KISSFCV2F7.cf +++ b/KISSFCV2F7.cf @@ -17,15 +17,14 @@ dma pin c06 0 dma pin c07 0 dma pin b03 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -33,50 +32,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/MAMBAF722-upgrade.cf b/MAMBAF722-upgrade.cf index 7dc77ff..5509984 100644 --- a/MAMBAF722-upgrade.cf +++ b/MAMBAF722-upgrade.cf @@ -6,16 +6,14 @@ 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 +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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -23,49 +21,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 \ No newline at end of file diff --git a/MAMBAF722.cf b/MAMBAF722.cf index 80a6385..5509984 100644 --- a/MAMBAF722.cf +++ b/MAMBAF722.cf @@ -6,16 +6,14 @@ 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 +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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -23,49 +21,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 \ No newline at end of file diff --git a/MATEKF722SE-upgrade.cf b/MATEKF722SE-upgrade.cf index dc45ed5..4e625e6 100644 --- a/MATEKF722SE-upgrade.cf +++ b/MATEKF722SE-upgrade.cf @@ -7,15 +7,14 @@ timer a03 1 dma pin a03 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -23,50 +22,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/MATEKF722SE.cf b/MATEKF722SE.cf index 5210ddf..4e625e6 100644 --- a/MATEKF722SE.cf +++ b/MATEKF722SE.cf @@ -7,15 +7,14 @@ timer a03 1 dma pin a03 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -23,50 +22,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/NERO-upgrade.cf b/NERO-upgrade.cf index c9ea3dd..effedbb 100644 --- a/NERO-upgrade.cf +++ b/NERO-upgrade.cf @@ -20,15 +20,14 @@ dma pin a00 0 dma pin a02 0 dma pin a03 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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -36,50 +35,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/NERO.cf b/NERO.cf index f85326b..effedbb 100644 --- a/NERO.cf +++ b/NERO.cf @@ -20,15 +20,14 @@ dma pin a00 0 dma pin a02 0 dma pin a03 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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -36,50 +35,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/NOX-upgrade.cf b/NOX-upgrade.cf index 06e01c0..b4bcf2c 100644 --- a/NOX-upgrade.cf +++ b/NOX-upgrade.cf @@ -5,15 +5,14 @@ timer A07 1 dma pin A07 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -21,50 +20,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/NOX.cf b/NOX.cf index c8aea72..b4bcf2c 100644 --- a/NOX.cf +++ b/NOX.cf @@ -5,15 +5,14 @@ timer A07 1 dma pin A07 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -21,50 +20,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/OMNIBUSF7-upgrade.cf b/OMNIBUSF7-upgrade.cf index ea99c9e..f457858 100644 --- a/OMNIBUSF7-upgrade.cf +++ b/OMNIBUSF7-upgrade.cf @@ -19,15 +19,14 @@ dma pin a03 1 dma adc 1 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -35,50 +34,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/OMNIBUSF7.cf b/OMNIBUSF7.cf index dacc27c..f457858 100644 --- a/OMNIBUSF7.cf +++ b/OMNIBUSF7.cf @@ -19,15 +19,14 @@ dma pin a03 1 dma adc 1 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -35,50 +34,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/PYRODRONEF4-upgrade.cf b/PYRODRONEF4-upgrade.cf index 0af217c..f731f91 100644 --- a/PYRODRONEF4-upgrade.cf +++ b/PYRODRONEF4-upgrade.cf @@ -6,15 +6,14 @@ # m1 - m4 usable timer b00 1 dma pin b00 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -22,50 +21,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/PYRODRONEF4.cf b/PYRODRONEF4.cf index 7006772..f731f91 100644 --- a/PYRODRONEF4.cf +++ b/PYRODRONEF4.cf @@ -6,15 +6,14 @@ # m1 - m4 usable timer b00 1 dma pin b00 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -22,50 +21,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/REVOLT-upgrade.cf b/REVOLT-upgrade.cf index bb24205..6e4b222 100644 --- a/REVOLT-upgrade.cf +++ b/REVOLT-upgrade.cf @@ -12,15 +12,14 @@ dma pin b00 0 dma pin b01 0 dma pin a03 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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -28,50 +27,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/REVOLT.cf b/REVOLT.cf index 9da1e0f..6e4b222 100644 --- a/REVOLT.cf +++ b/REVOLT.cf @@ -12,15 +12,14 @@ dma pin b00 0 dma pin b01 0 dma pin a03 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 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -28,50 +27,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/SPRACINGF7DUAL-upgrade.cf b/SPRACINGF7DUAL-upgrade.cf index 22d78f3..0ac82fc 100644 --- a/SPRACINGF7DUAL-upgrade.cf +++ b/SPRACINGF7DUAL-upgrade.cf @@ -23,15 +23,14 @@ dma pin a10 0 dma adc 3 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -39,50 +38,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/SPRACINGF7DUAL.cf b/SPRACINGF7DUAL.cf index 4d43299..0ac82fc 100644 --- a/SPRACINGF7DUAL.cf +++ b/SPRACINGF7DUAL.cf @@ -23,15 +23,14 @@ dma pin a10 0 dma adc 3 0 - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -39,50 +38,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 - diff --git a/fragments/settings.cf b/fragments/settings.cf index 2d2c152..99920e6 100644 --- a/fragments/settings.cf +++ b/fragments/settings.cf @@ -1,12 +1,11 @@ - # set looptime to 4k to have enough computational time set gyro_sync_denom = 2 set pid_process_denom = 1 -# works most reliably with DShot600 +# Start with dshot 300 which is most robust -set motor_pwm_protocol=DSHOT600 +set motor_pwm_protocol=DSHOT300 # basic settings required to enable rpm filtering: @@ -14,50 +13,14 @@ set scheduler_optimize_rate=on set dshot_burst=off set dshot_bidir=on -# enable debugging of rpm related settings (optional) +# enable debugging for noise assessment -set debug_mode=rpm_filter +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 -# 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 -