GitHub BF 4.0 Preset PID tuning

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___isimsiz___
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Kayıt: 31 Mar 2018, 00:24
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GitHub BF 4.0 Preset PID tuning

Mesaj gönderen ___isimsiz___ » 19 Eyl 2019, 00:14

Bu konu tavsiye, öneri amaçlı değildir.
Bu konu içeriği tarafımca hazırlanmamıştır.
Bu konu içeriği tarafımca test edilmemiş, denenmemiştir.
Bu konu içeriği uygulayanların kendi tercih ve sorumluluğundadır.


GitHub links;
https://github.com/betaflight/betafligh ... ning-Notes
https://github.com/betaflight/betafligh ... ty-Presets

Brushless Whoop Class
CLI Copy\Paste

#Filter Settings
set gyro_lowpass_type = PT1
set dyn_notch_min_hz = 150
set dyn_lpf_gyro_min_hz = 150
set dyn_lpf_gyro_max_hz = 750
set dyn_lpf_dterm_min_hz = 150
set dyn_lpf_dterm_max_hz = 250
set dterm_lowpass_type = BiQUAD
set dterm_lowpass2_hz = 0

#PID Gains Settings
set vbat_pid_gain = ON
set anti_gravity_gain = 5000

set p_pitch = 33
set i_pitch = 85
set d_pitch = 35

set p_roll = 28
set i_roll = 78
set d_roll = 32

set d_min_pitch = 18
set d_min_roll = 16
set d_min_boost_gain = 30
set d_min_advance = 0

set pidsum_limit = 1000

#Assumes Freestyle | For racing use "Setpoint" and cutoff = 20
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 10

#TPA Settings (which is D-term only by default)
set tpa_rate = 80
set tpa_breakpoint = 1800

2" - 3" Quad - 11xx-12xx Motors
CLI Copy\Paste

#Filter Settings
set gyro_lowpass_type = BiQUAD
set dyn_notch_min_hz = 150
set dyn_lpf_gyro_min_hz = 150
set dyn_lpf_gyro_max_hz = 700
set dyn_lpf_dterm_min_hz = 150
set dyn_lpf_dterm_max_hz = 250
set dterm_lowpass_type = BiQUAD
set dterm_lowpass2_hz = 150

#PID Gains Settings
set vbat_pid_gain = ON
set anti_gravity_gain = 5000

set p_pitch = 33
set i_pitch = 85
set d_pitch = 35

set p_roll = 28
set i_roll = 78
set d_roll = 32

set d_min_pitch = 18
set d_min_roll = 16
set d_min_boost_gain = 30
set d_min_advance = 0

set pidsum_limit = 1000 #unleashes PID Sum to be 100% (not restricted to 50% by default)

#Assumes Freestyle | For racing use "Setpoint" and cutoff = 20
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 10

#TPA Settings (which is D-term only by default)
set tpa_rate = 80
set tpa_breakpoint = 1800

3" Quad - 14xx-15xx Motors
CLI Copy\Paste

#Filter Settings
set gyro_lowpass_type = BiQUAD
set dyn_notch_min_hz = 150
set dyn_lpf_gyro_min_hz = 150
set dyn_lpf_gyro_max_hz = 650
set dyn_lpf_dterm_min_hz = 150
set dyn_lpf_dterm_max_hz = 250
set dterm_lowpass_type = BiQUAD
set dterm_lowpass2_hz = 150

#PID Gains Settings
set vbat_pid_gain = ON
set anti_gravity_gain = 5000

set p_pitch = 38
set i_pitch = 85
set d_pitch = 35

set p_roll = 35
set i_roll = 78
set d_roll = 32

set d_min_pitch = 18
set d_min_roll = 16
set d_min_boost_gain = 30
set d_min_advance = 0

set pidsum_limit = 1000 #unleashes PID Sum to be 100% (not restricted to 50% by default)

#Assumes Freestyle | For racing use "Setpoint" and cutoff = 20
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 10

#TPA Settings (which is D-term only by default)
set tpa_rate = 80
set tpa_breakpoint = 1800


5" Quad - Setpoint Tracker - Lower Cutoffs Filters (more filtering)
For: 650g to 725g AUW Kwads | 1000 to 1100 deg/sec rates.

CLI Copy\Paste
#Filter Settings
set dyn_notch_min_hz = 80

set dyn_lpf_gyro_min_hz = 0
set dyn_lpf_gyro_max_hz = 0
set gyro_lowpass_hz = 0
set gyro_lowpass_type = PT1
set gyro_lowpass2_hz = 200
set gyro_lowpass2_type = PT1


set dyn_lpf_dterm_min_hz = 0
set dyn_lpf_dterm_max_hz = 0
set dterm_lowpass_type = PT1
set dterm_lowpass_hz = 0
set dterm_lowpass2_type = BiQUAD
set dterm_lowpass2_hz = 125

#For RPM Filter: Without RPM leave at = 8 (default)
#Set to 0 if you can afford less Dynamic Notch filtering because RPM is added (reduces to one notch instead of two on DN)
#set dyn_notch_width_percent = 8

#PID Gains Settings
set vbat_pid_gain = ON
set anti_gravity_gain = 10000
set p_pitch = 60
set i_pitch = 70
set d_pitch = 60
set f_pitch = 350

set p_roll = 65
set i_roll = 60
set d_roll = 65
set f_roll = 325

set p_yaw = 100
set i_yaw = 100
set d_yaw = 0
set f_yaw = 125

set d_min_pitch = 45
set d_min_roll = 45
set d_min_boost_gain = 30
set d_min_advance = 0
set pidsum_limit = 1000 #unleashes PID Sum to be 100% (not restricted to 50% by default)

#Assumes Freestyle | For racing use "Setpoint" and cutoff = 20
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 10

#TPA Settings (which is D-term only by default)
set tpa_rate = 80
set tpa_breakpoint = 1750
save


5" Quad - Setpoint Tracker - Higher Cutoffs Filters (less filtering)
For: 650g to 725g AUW Kwads | 1000 to 1100 deg/sec rates.
Kwads with NO Noise between 50hz and 200hz
Requires a quad with NO noise issues from 50hz to 200hz! So, if you are not sure, use the above first and if that goes well try these settings next.

CLI Copy\Paste

#Filter Settings
set dyn_notch_min_hz = 80

set dyn_lpf_gyro_min_hz = 0
set dyn_lpf_gyro_max_hz = 0
set gyro_lowpass_hz = 0
set gyro_lowpass_type = PT1
set gyro_lowpass2_hz = 0
set gyro_lowpass2_type = PT1

set dyn_lpf_dterm_min_hz = 80
set dyn_lpf_dterm_max_hz = 175
set dterm_lowpass_type = BiQUAD
set dterm_lowpass_hz = 0
set dterm_lowpass2_type = PT1
set dterm_lowpass2_hz = 0

#For RPM Filter: Without RPM leave at = 8 (default)
#Set to 0 if you can afford less Dynamic Notch filtering because RPM is added (reduces to one notch instead of two on DN)
#set dyn_notch_width_percent = 8

#PID Gains Settings
set vbat_pid_gain = ON
set anti_gravity_gain = 10000
set p_pitch = 60
set i_pitch = 70
set d_pitch = 60
set f_pitch = 350

set p_roll = 65
set i_roll = 60
set d_roll = 65
set f_roll = 325

set p_yaw = 100
set i_yaw = 100
set d_yaw = 0
set f_yaw = 125

set d_min_pitch = 45
set d_min_roll = 45
set d_min_boost_gain = 30
set d_min_advance = 0

set pidsum_limit = 1000 #unleashes PID Sum to be 100% (not restricted to 50% by default)

#Assumes Freestyle | For racing use "Setpoint" and cutoff = 20
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 10

#TPA Settings (which is D-term only by default)
set tpa_rate = 80
set tpa_breakpoint = 1750

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