初めてのBetaflight4.X。 フォーラムで安定してそうな設定を見つけたので、備忘録
For BF4.04
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 300
set gyro_lowpass2_type = PT1
set gyro_lowpass2_hz = 100
set dyn_lpf_gyro_min_hz = 300
set dyn_lpf_gyro_max_hz = 450
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 0
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 0
set dyn_notch_range = AUTO
set dyn_notch_width_percent = 0
set dyn_notch_q = 70
set dyn_notch_min_hz = 130
set dterm_lowpass_type = PT1
set dterm_lowpass_hz = 200
set dterm_lowpass2_type = PT1
set dterm_lowpass2_hz = 100
set dyn_lpf_dterm_min_hz = 200
set dyn_lpf_dterm_max_hz = 250
set dterm_notch_hz = 0
set dterm_notch_cutoff = 0
set d_min_roll = 0
set d_min_pitch = 0
set d_min_yaw = 0
set abs_control_gain = 0
set use_integrated_yaw = OFF
set d_yaw = 0
My rates
set roll_rc_rate = 75
set pitch_rc_rate = 75
set yaw_rc_rate = 80
set roll_expo = 25
set pitch_expo = 25
set yaw_expo = 18
set roll_srate = 78
set pitch_srate = 78
set yaw_srate = 80
set tpa_rate = 80
set tpa_breakpoint = 1800
Yann Boulard PIDs
set vbat_pid_gain = ON
set feedforward_transition = 10
set iterm_rotation = ON
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 11
set p_pitch = 68
set i_pitch = 58
set d_pitch = 36
set p_roll = 68
set i_roll = 58
set d_roll = 38
set f_roll = 75
set p_yaw = 90
set i_yaw = 40
set d_min_roll = 0
set d_min_pitch = 0
set d_min_boost_gain = 0
set d_min_advance = 0
