Halo om2kuh, kali ini saya mau berbagi ilmu yang sepengalaman saya yaa, jadi kalau ada masukan dan kritik boleh langsung komen aja.
CLI :
set yaw_spin_recovery = AUTO
set dshot_idle_value = 550
set mixer_type = LEGACY
set gyro_cal_on_first_arm = OFF
set pid_at_min_throttle = ON
set anti_gravity_gain = 80
set anti_gravity_cutoff_hz = 5
set anti_gravity_p_gain = 100
set acc_limit_yaw = 0
set acc_limit = 0
set iterm_rotation = OFF
set iterm_relax = RP
set iterm_relax_type = SETPOINT
set iterm_relax_cutoff = 15
set iterm_windup = 85
set iterm_limit = 400
set pidsum_limit = 500
set pidsum_limit_yaw = 400
set throttle_boost = 5
set throttle_boost_cutoff = 15
set p_pitch = 47
set i_pitch = 84
set d_pitch = 46
set f_pitch = 125
set p_roll = 45
set i_roll = 80
set d_roll = 40
set f_roll = 120
set p_yaw = 45
set i_yaw = 80
set d_yaw = 0
set f_yaw = 120
set angle_p_gain = 50
set angle_feedforward = 50
set angle_feedforward_smoothing_ms = 80
set angle_limit = 60
set angle_earth_ref = 100
set horizon_level_strength = 75
set horizon_limit_sticks = 75
set horizon_limit_degrees = 135
set horizon_ignore_sticks = OFF
set horizon_delay_ms = 500
set abs_control_gain = 0
set abs_control_limit = 90
set abs_control_error_limit = 20
set abs_control_cutoff = 11
set use_integrated_yaw = OFF
set integrated_yaw_relax = 200
set d_min_roll = 30
set d_min_pitch = 34
set d_min_yaw = 0
set d_max_gain = 37
set d_max_advance = 20
set thrust_linear = 0
set transient_throttle_limit = 0
set feedforward_transition = 0
set feedforward_max_rate_limit = 90
set dyn_idle_min_rpm = 0
set dyn_idle_p_gain = 50
set dyn_idle_i_gain = 50
set dyn_idle_d_gain = 50
set dyn_idle_max_increase = 150
set dyn_idle_start_increase = 50
set simplified_master_multiplier = 100
set simplified_i_gain = 100
set simplified_d_gain = 100
set simplified_pi_gain = 100
set simplified_dmax_gain = 100
set simplified_feedforward_gain = 100
set simplified_pitch_d_gain = 100
set simplified_pitch_pi_gain = 100
set tpa_mode = D
set tpa_rate = 65
set tpa_breakpoint = 1350
set tpa_low_rate = 20
set tpa_low_breakpoint = 1050
set tpa_low_always = OFF
set ez_landing_threshold = 25
set ez_landing_limit = 5
-- Antigravity --
set anti_gravity_gain = 120
set feedforward_transition = 30
set simplified_master_multiplier = 110
set simplified_i_gain = 85
set simplified_d_gain = 100
set simplified_pi_gain = 110
set simplified_dmax_gain = 0
set simplified_feedforward_gain = 90
set simplified_pitch_pi_gain = 105
--- Filters Base Setup ------
set gyro_hardware_lpf = NORMAL
set gyro_lpf1_type = PT1
set gyro_lpf1_static_hz = 250
set gyro_lpf2_type = PT1
set gyro_lpf2_static_hz = 500
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 0
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 0
defaults group_id 554 nosave # PG_DYN_NOTCH_CONFIG
set gyro_lpf1_dyn_min_hz = 250
set gyro_lpf1_dyn_max_hz = 500
set gyro_lpf1_dyn_expo = 5
set gyro_filter_debug_axis = ROLL
set acc_lpf_hz = 25
set dshot_bidir = OFF
set simplified_gyro_filter = ON
set simplified_gyro_filter_multiplier = 100
defaults group_id 544 nosave # PG_RPM_FILTER_CONFIG
set dterm_lpf1_dyn_min_hz = 75
set dterm_lpf1_dyn_max_hz = 150
set dterm_lpf1_dyn_expo = 5
set dterm_lpf1_type = PT1
set dterm_lpf1_static_hz = 75
set dterm_lpf2_type = PT1
set dterm_lpf2_static_hz = 150
set dterm_notch_hz = 0
set dterm_notch_cutoff = 0
set yaw_lowpass_hz = 100
set simplified_dterm_filter = ON
set simplified_dterm_filter_multiplier = 100
set dshot_bidir = OFF
set simplified_gyro_filter_multiplier = 160
set gyro_lpf1_static_hz = 0
set gyro_lpf1_dyn_min_hz = 0
set gyro_lpf1_dyn_max_hz = 0
set dyn_notch_count = 4
set dyn_notch_q = 300
set dyn_notch_min_hz = 90
set dyn_notch_max_hz = 800
set simplified_dterm_filter_multiplier = 140
set dterm_lpf1_dyn_min_hz = 0
set dterm_lpf1_dyn_max_hz = 0
set dterm_lpf1_dyn_expo = 0
set dshot_bidir = ON
set motor_pwm_protocol = DSHOT600
set rpm_filter_harmonics = 3
set rpm_filter_q = 1000
set dyn_notch_count = 2
set dyn_notch_q = 400
set rpm_filter_fade_range_hz = 100
set feedforward_averaging = OFF
set feedforward_smooth_factor = 25
set feedforward_jitter_factor = 7
set feedforward_transition = 0
set feedforward_boost = 15
set rc_smoothing = ON
set rc_smoothing_auto_factor = 30
set rc_smoothing_auto_factor_throttle = 30
set rc_smoothing_setpoint_cutoff = 0
set rc_smoothing_feedforward_cutoff = 0
set rc_smoothing_throttle_cutoff = 0
set rc_smoothing_debug_axis = ROLL
feature RX_SERIAL
set serialrx_provider = CRSF
set feedforward_averaging = 2_POINT
set feedforward_smooth_factor = 35
set feedforward_jitter_factor = 4
set feedforward_boost = 18
set rc_smoothing_auto_factor = 45
set rc_smoothing_auto_factor_throttle = 45
simplified_tuning apply
save
11 сен 2024
