BetaFPV Meteor65 Pro ELRS Open-Prop

diff.txt

# WORK IN PROGRESS
# BF 4.3.1 + KalmanFilter + SmithPredict
# This diff setup for BetaFPV Elrs Nano TX at 200Mhz

# generalized - still have very minor oscilation or jello
# static dterm-LPF1 type PT2 180Hz or 200Hz
# static dterm-LPF2 type PT1 500Hz
# static gyro-LPF1 type PT1 140Hz or 150Hz
# dynamic gyro notch qty 2 @400Q 200-800Hz
# Roll P80 I60 D62 FF100
# Pit  P80 I60 D62 FF100
# Yaw  P75 I50 D01 FF100

# diff all

# version
# Betaflight / BETAFPVF4SX1280 (BHER) 4.3.1 Jul 28 2022 / 13:24:51 (17ebf4cef) MSP API: 1.44

# start the command batch
batch start

# reset configuration to default settings
defaults nosave

board_name BETAFPVF4SX1280
manufacturer_id BEFH
mcu_id 002b00464e32500520333730
signature 

# name: M65Pro-ELRS

# feature
feature -LED_STRIP

# serial
serial 0 1 115200 57600 0 115200
serial 30 2048 115200 57600 0 115200

# beacon
beacon RX_LOST
beacon RX_SET

# aux
aux 0 0 0 1700 2100 0 0
aux 1 1 4 1700 2100 0 0
aux 2 13 2 1825 2100 0 0
aux 3 26 1 1775 2100 0 0
aux 4 35 3 1875 2100 0 0
aux 5 36 3 1375 2100 0 0
aux 6 39 0 1300 2100 0 0

# vtxtable
vtxtable bands 5
vtxtable channels 8
vtxtable band 1 BOSCAM_A A FACTORY 5865 5845 5825 5805 5785 5765 5745 5725
vtxtable band 2 BOSCAM_B B FACTORY 5733 5752 5771 5790 5809 5828 5847 5866
vtxtable band 3 BOSCAM_E E FACTORY 5705 5685 5665 5645 5885 5905 5925 5945
vtxtable band 4 FATSHARK F FACTORY 5740 5760 5780 5800 5820 5840 5860 5880
vtxtable band 5 RACEBAND R FACTORY 5658 5695 5732 5769 5806 5843 5880 5917
vtxtable powerlevels 4
vtxtable powervalues 0 1 2 3
vtxtable powerlabels 25 100 200 350

# master
set gyro_lpf1_static_hz = 140
set gyro_lpf2_static_hz = 0
set dyn_notch_count = 2
set dyn_notch_q = 400
set dyn_notch_min_hz = 200
set dyn_notch_max_hz = 800
set gyro_lpf1_dyn_min_hz = 0
set gyro_lpf1_dyn_max_hz = 0
set acc_calibration = 0,0,0,1
set min_check = 1020
set max_check = 2000
set rc_smoothing_auto_factor = 52
set serialrx_provider = CRSF
set dshot_idle_value = 1000
set motor_pwm_protocol = DSHOT600
set motor_poles = 12
set failsafe_delay = 4
set failsafe_recovery_delay = 20
set vbat_max_cell_voltage = 440
set vbat_min_cell_voltage = 310
set vbat_warning_cell_voltage = 325
set current_meter = NONE
set ibata_scale = 179
set yaw_motors_reversed = ON
set small_angle = 180
set simplified_gyro_filter = OFF
set simplified_gyro_filter_multiplier = 140
set report_cell_voltage = ON

## set vtx_band = 1
## set vtx_channel = 8
## set vtx_power = 3
## set vtx_low_power_disarm = ON
## set vtx_freq = 5725
## set vcd_video_system = NTSC
## set expresslrs_uid = 00,000,000,00,00,000  #### Your numerical-converted ELRS binding phrase
set expresslrs_rate_index = 1
## set name = M65Pro-ELRS

## EmuFlight specific
set smith_predict_str = 50
set smith_predict_delay = 40
set smith_predict_filt_hz = 5
set imuf_q = 10000
set imuf_w = 12

profile 0

# profile 0
set dterm_lpf1_dyn_min_hz = 0
set dterm_lpf1_dyn_max_hz = 0
set dterm_lpf1_dyn_expo = 3
set dterm_lpf1_type = PT2
set dterm_lpf1_static_hz = 180
set dterm_lpf2_static_hz = 500
set vbat_sag_compensation = 100
set anti_gravity_gain = 0
set crash_gthreshold = 500
set crash_recovery = ON
set iterm_rotation = ON
set iterm_relax = RPY
set iterm_relax_cutoff = 30
set yaw_lowpass_hz = 0
set throttle_boost = 2
set p_pitch = 80
set i_pitch = 60
set d_pitch = 62
set f_pitch = 100
set p_roll = 80
set i_roll = 60
set d_roll = 62
set f_roll = 100
set p_yaw = 75
set i_yaw = 50
set d_yaw = 1
set f_yaw = 100
set angle_level_strength = 70
set horizon_level_strength = 70
set level_limit = 50
set d_min_roll = 62
set d_min_pitch = 62
set d_max_gain = 0
set d_max_advance = 0
set thrust_linear = 30
set feedforward_averaging = 2_POINT
set feedforward_smooth_factor = 45
set feedforward_jitter_factor = 8
set simplified_pids_mode = OFF
set simplified_master_multiplier = 120
set simplified_d_gain = 60
set simplified_pi_gain = 80
set simplified_feedforward_gain = 80
set simplified_pitch_d_gain = 95
set simplified_pitch_pi_gain = 105
set simplified_dterm_filter = OFF
set simplified_dterm_filter_multiplier = 140

rateprofile 0

# rateprofile 0
set thr_mid = 10
set rates_type = BETAFLIGHT
set roll_rc_rate = 99
set pitch_rc_rate = 99
set yaw_rc_rate = 88
set roll_expo = 30
set pitch_expo = 30
set yaw_expo = 40
set roll_srate = 78
set pitch_srate = 78
set yaw_srate = 78
set tpa_rate = 90
set tpa_breakpoint = 1400

# save configuration
save

EmuFlight_4.3.1_BETAFPVF4SX1280_Build_17ebf4cef_undefines_config_Kalman_Smith.hex.zip

The zip file BetaFlight 4.3.1, plus Kalman Filter, plus Smith Predictor, minus MAVLink, minus Servos, PPM, plus CLI config command.