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# nerdCopter NBDHMBF4PRO (1S) based from PJClarke and 3dracingman and personal EmuFlight experience. |
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# Not a diff per say, more a "preset", subject to change at any time. |
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# Nov 18 2020 |
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# |
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# 3dracingman 65mm: |
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# P 90 D 85 |
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# Q 6000/6000/4000 for non-Bosch |
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# sharpness 500 |
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# gyro lpf 160 |
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# dterm lpf 200 |
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# idecay 3 |
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# imuf_w 10 or 12 |
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# emuboost/limit 160/45, yaw 2000/?? |
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# |
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# PJClarke NBDHMBF4PRO: |
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# PIDs P/R:p80,i85,d75 Y:100,85,0 |
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# Q 7000/7000/7000 |
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# sharpness 1500 |
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# gyro lpf 150 |
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# dterm lpf 200 |
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# idecay 7 |
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# imuf_w 16 |
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# |
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# nerdCopter mods: |
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# mix of above 2 plus my opinion |
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# yaw mods |
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# SPA non-defaults, especially yaw |
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# Q mods |
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# matrix mods |
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# WC & SDS off |
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# idecay 5 |
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# emuboosts mods |
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# personal LED prefs |
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# version |
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# EmuFlight / NBDHMBF4PRO (HMBF4 PRO) 0.3.2 Nov 17 2020 / 21:00:14 (771f84c6c) MSP API: 1.49 |
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# name |
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name NBDHMBF4PRO |
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# feature |
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feature AIRMODE |
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feature DYNAMIC_FILTER |
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# beacon |
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beacon RX_LOST |
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beacon RX_SET |
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# master |
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set gyro_lowpass_type = PT1 |
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set gyro_lowpass_hz_roll = 160 |
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set gyro_lowpass_hz_pitch = 160 |
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set gyro_lowpass_hz_yaw = 160 |
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set gyro_lowpass2_hz_roll = 0 |
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set gyro_lowpass2_hz_pitch = 0 |
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set gyro_lowpass2_hz_yaw = 0 |
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set imuf_roll_q = 6500 |
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set imuf_pitch_q = 6500 |
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set imuf_yaw_q = 5500 |
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set imuf_w = 12 |
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set imuf_sharpness = 500 |
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set crashflip_power_percent = 88 #YMMV, 85 works on flat surfaces for sure, somtimes need rocking, but sometimes i'm in short grass |
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set dynamic_gyro_notch_q = 300 |
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set dynamic_gyro_notch_min_hz = 160 |
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set fpv_mix_degrees = 0 |
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set vbat_max_cell_voltage = 45 |
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set runaway_takeoff_prevention = OFF |
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# profile |
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profile 0 |
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set dterm_lowpass_type = PT1 |
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set dterm_lowpass_hz_roll = 200 |
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set dterm_lowpass_hz_pitch = 200 |
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set dterm_lowpass_hz_yaw = 200 |
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set dterm_lowpass2_hz_roll = 0 |
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set dterm_lowpass2_hz_pitch = 0 |
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set dterm_lowpass2_hz_yaw = 0 |
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set smart_dterm_smoothing_roll = 0 |
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set smart_dterm_smoothing_pitch = 0 |
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set smart_dterm_smoothing_yaw = 0 |
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set witchcraft_roll = 0 |
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set witchcraft_pitch = 0 |
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set witchcraft_yaw = 0 |
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set spa_roll_p = 100 |
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set spa_roll_i = 70 |
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set spa_roll_d = 100 |
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set spa_pitch_p = 100 |
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set spa_pitch_i = 70 |
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set spa_pitch_d = 100 |
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set spa_yaw_p = 100 |
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set spa_yaw_i = 50 |
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set spa_yaw_d = 100 |
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set throttle_boost = 0 |
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set feathered_pids = 50 |
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set i_decay = 5 |
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set emu_boost = 160 |
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set emu_boost_yaw = 160 |
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set emu_boost_limit = 40 |
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set emu_boost_limit_yaw = 50 |
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set p_pitch = 90 # i'm at sea level. PJC also said higher gets tricky with airmode. |
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set i_pitch = 85 |
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set d_pitch = 85 # |
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set p_roll = 90 # |
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set i_roll = 85 |
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set d_roll = 85 # |
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set p_yaw = 90 # i'm safely at yaw P100, but YMMV |
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set i_yaw = 100 # yaw I100 working fine with spa_yaw_i = 50 |
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set d_yaw = 0 |
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set p_angle_low = 30 |
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set p_angle_high = 10 |
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set level_limit = 80 |
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set horizon_tilt_effect = 80 |
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#### personal options below #### |
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# rateprofile |
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rateprofile 0 |
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set thr_mid = 5 |
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set thr_expo = 40 |
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set roll_rc_rate = 92 |
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set pitch_rc_rate = 92 |
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set yaw_rc_rate = 90 |
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set roll_expo = 30 |
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set pitch_expo = 30 |
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set yaw_expo = 30 |
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set roll_srate = 77 |
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set pitch_srate = 77 |
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set yaw_srate = 70 |
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set rate_center_weight = 10 |
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# led |
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led 0 9,9::CB:8 |
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led 1 6,9::CB:8 |
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led 2 6,6::CTW:9 |
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led 3 9,6::CTW:9 |
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# get this info from betaflight dump OR set manually |
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# set vtx_band = 1 |
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# set vtx_channel = 8 |
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set vtx_power = 2 |
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set vtx_low_power_disarm = ON |
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# set vtx_freq = 5725 |
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# set vcd_video_system = NTSC |
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## get this info from you betaflight dump OR use physical bind button |
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# set frsky_spi_tx_id = 162,75 |
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# set frsky_spi_offset = -7 |
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# set frsky_spi_bind_hop_data = 2,217,197,179,157,137,117,97,77,57,37,17,232,212,192,172,152,132,112,92,72,52,32,12,227,207,187,167,147,127,107,87,67,49,27,7,222,202,182,162,142,122,102,82,62,42,22,0,0,0 |
