From 8754ca4129fe19bad819485c206675b3a3417430 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Volker=20G=C3=B6schl-Covrljan?= Date: Fri, 17 May 2024 10:19:46 +0200 Subject: [PATCH] rubberquads presets for the squirrel35 and team-rates (#466) * rubberquads presets for the squirrel35 and team-rates * added rpm_filter frequencies (for 3-4") * thank you limon! * changed status to experimental for now * some more fine tuning * select profile BEFORE chanching the rates * restored .gitignore * now with EOL --- .../rubberquads/squirrel_35_filter.txt | 88 ++++++++++++++++++ presets/4.5/rates/rubberquads_team_rates.txt | 91 +++++++++++++++++++ .../4.5/tune/rubberquads/squirrel35_tune.txt | 61 +++++++++++++ 3 files changed, 240 insertions(+) create mode 100644 presets/4.5/filters/rubberquads/squirrel_35_filter.txt create mode 100644 presets/4.5/rates/rubberquads_team_rates.txt create mode 100644 presets/4.5/tune/rubberquads/squirrel35_tune.txt diff --git a/presets/4.5/filters/rubberquads/squirrel_35_filter.txt b/presets/4.5/filters/rubberquads/squirrel_35_filter.txt new file mode 100644 index 000000000..61c5404cb --- /dev/null +++ b/presets/4.5/filters/rubberquads/squirrel_35_filter.txt @@ -0,0 +1,88 @@ +#$ TITLE: 4.5 Filter settings for the RubberQuads Squirrel 35 (with RPM FILTERING). +#$ FIRMWARE_VERSION: 4.5 +#$ CATEGORY: FILTERS +#$ STATUS: EXPERIMENTAL +#$ KEYWORDS: rubberquads, squirrel, DShot telemetry, filter, filters, clean, basic, betaflight +#$ AUTHOR: Volker Göschl-Covrljan +#$ DISCUSSION: https://discord.gg/RqbQBuh7pu + +#$ PARSER: MARKED +#$ DESCRIPTION:
+#$ DESCRIPTION: +#$ DESCRIPTION: +#$ DESCRIPTION: # Universal Filter Settings for 3"-4" rigs +#$ DESCRIPTION: +#$ DESCRIPTION: WARNING: Requires RPM filtering. Ensure that bidirectional DShot working! +#$ DESCRIPTION: WARNING: May cause motor overheating -> Check temps after 30 seconds! +#$ DESCRIPTION: Intended for solid frames and clean props - will growl but fly home with bended props. +#$ DESCRIPTION: If motors get too hot, lower both filter-sliders by 0.2 and try again. + + + +#$ INCLUDE: presets/4.5/filters/defaults.txt + +# enable dshot with rpm telemetry +set motor_pwm_protocol = Dshot600 +set dshot_bidir = ON + +# -- Gyro filters -- +# Standard dynamic gyro lowpass cascade +set gyro_lpf1_dyn_expo = 5 + +# -- Gyro Sliders (on by default) -- +# +set simplified_gyro_filter_multiplier = 200 + +# -- Gyro Static Notches (default)-- + +# -- Gyro Dynamic Notches -- +set dyn_notch_count = 2 +set dyn_notch_q = 600 +set dyn_notch_min_hz = 100 +set dyn_notch_max_hz = 600 + +# -- RPM filtering -- +#$ INCLUDE_WARNING: misc/warnings/en/rpm_filters.txt +set dshot_bidir = ON +set rpm_filter_q = 650 +set rpm_filter_min_hz = 120 +set rpm_filter_fade_range_hz = 30 + +#$ OPTION_GROUP BEGIN: Count your magnets (in one bell) + #$ OPTION BEGIN (CHECKED): a lot (14) + set motor_poles = 14 + #$ OPTION END + #$ OPTION BEGIN (UNCHECKED): a tad less (12) + set motor_poles = 12 + #$ OPTION END +#$ OPTION_GROUP END + +#$ OPTION_GROUP BEGIN: Choose your prop + #$ OPTION BEGIN (CHECKED): Triblade + set rpm_filter_harmonics = 3 + set rpm_filter_weights = 100,0,50 + #$ OPTION END + + #$ OPTION BEGIN (UNCHECKED): Biblade + set rpm_filter_harmonics = 2 + set rpm_filter_weights = 100,70,0 + #$ OPTION END +#$ OPTION_GROUP END + +# -- Dterm filtering -- +set dterm_lpf1_dyn_min_hz = 108 +set dterm_lpf1_dyn_max_hz = 217 +set dterm_lpf1_dyn_expo = 5 +set dterm_lpf1_type = PT1 +set dterm_lpf1_static_hz = 108 +set dterm_lpf2_type = PT1 +set dterm_lpf2_static_hz = 217 + +# -- Dterm sliders 140 -- +set simplified_dterm_filter = ON +set simplified_dterm_filter_multiplier = 140 +simplified_tuning apply + +# -- Yaw lowpass -- +set yaw_lowpass_hz = 110 +# -- Accelerometer lowpass (default) -- \ No newline at end of file diff --git a/presets/4.5/rates/rubberquads_team_rates.txt b/presets/4.5/rates/rubberquads_team_rates.txt new file mode 100644 index 000000000..bd37e7904 --- /dev/null +++ b/presets/4.5/rates/rubberquads_team_rates.txt @@ -0,0 +1,91 @@ +#$ TITLE: RubberQuads Team Rates +#$ FIRMWARE_VERSION: 4.3 +#$ FIRMWARE_VERSION: 4.4 +#$ FIRMWARE_VERSION: 4.5 +#$ CATEGORY: RATES +#$ STATUS: EXPERIMENTAL +#$ KEYWORDS: rates, freestyle, race, der_V, settek, rubberquads +#$ AUTHOR: Volker Göschl-Covrljan + +#$ PARSER: MARKED +#$ DESCRIPTION:
+#$ DESCRIPTION: +#$ DESCRIPTION: +#$ DESCRIPTION: #Rates from Team RubberQuads +#$ DESCRIPTION: This is what we like to rock on our sticks. +#$ DESCRIPTION: I (Volker) am a thumber so my center rates are pretty low to give me the ability to fly smooth and precise lines +#$ DESCRIPTION: My race-rates are toned down at the edge (550dps) but the same at the center to allow for a seamless transition +#$ DESCRIPTION: between ze flippyfloppies and racing/cinematic +#$ DESCRIPTION: Settek is flying hybrid so his rates are quite a bit higher around center-stickder_V_free +#$ DESCRIPTION: Be aware that we use a little throttle expo to get more precition where we need (want) it most: +#$ DESCRIPTION: my freestyle rates have it slightly over the hover-point to help with smooth, low flying and catching dives +#$ DESCRIPTION: Setteks mid-point is suited for fast cruising and my race-rates will keep my throttle output around 70% +#$ DESCRIPTION: for a wider range which reflects my current skills. + +#$ INCLUDE: presets/4.3/rates/defaults.txt + +#$ OPTION_GROUP BEGIN: load rates into (if not selected it will load into the currently active slot): + #$ OPTION BEGIN (UNCHECKED): profile 1 + rateprofile 0 + #$ OPTION END + #$ OPTION BEGIN (UNCHECKED): profile 2 + rateprofile 1 + #$ OPTION END + #$ OPTION BEGIN (UNCHECKED): profile 3 + rateprofile 2 + #$ OPTION END +#$ OPTION_GROUP END + +#$ OPTION_GROUP BEGIN: I want: + #$ OPTION BEGIN (CHECKED): Volkers freestyle rates + set rateprofile_name = der_V_free + set thr_mid = 20 + set thr_expo = 30 + set rates_type = ACTUAL + set quickrates_rc_expo = OFF + set roll_rc_rate = 6 + set pitch_rc_rate = 6 + set yaw_rc_rate = 6 + set roll_expo = 40 + set pitch_expo = 40 + set yaw_expo = 40 + set roll_srate = 70 + set pitch_srate = 70 + set yaw_srate = 55 + #$ OPTION END + #$ OPTION BEGIN (UNCHECKED): Volkers race rates + set rateprofile_name = der_V_race + set thr_mid = 70 + set thr_expo = 20 + set rates_type = ACTUAL + set quickrates_rc_expo = OFF + set roll_rc_rate = 6 + set pitch_rc_rate = 6 + set yaw_rc_rate = 6 + set roll_expo = 40 + set pitch_expo = 40 + set yaw_expo = 40 + set roll_srate = 55 + set pitch_srate = 55 + set yaw_srate = 40 + #$ OPTION END + #$ OPTION BEGIN (UNCHECKED): Settek rates + set rateprofile_name = settek + set thr_mid = 30 + set thr_expo = 30 + set rates_type = ACTUAL + set quickrates_rc_expo = OFF + set roll_rc_rate = 11 + set pitch_rc_rate = 11 + set yaw_rc_rate = 11 + set roll_expo = 50 + set pitch_expo = 50 + set yaw_expo = 50 + set roll_srate = 70 + set pitch_srate = 70 + set yaw_srate = 65 + #$ OPTION END +#$ OPTION_GROUP END + + + diff --git a/presets/4.5/tune/rubberquads/squirrel35_tune.txt b/presets/4.5/tune/rubberquads/squirrel35_tune.txt new file mode 100644 index 000000000..9a827a97c --- /dev/null +++ b/presets/4.5/tune/rubberquads/squirrel35_tune.txt @@ -0,0 +1,61 @@ +#$ TITLE: Squirrel 3.5 tune +#$ FIRMWARE_VERSION: 4.5 +#$ CATEGORY: TUNE +#$ STATUS: EXPERIMENTAL +#$ KEYWORDS: rubberquads, squirrel, 3.5, pid, tune, +#$ AUTHOR: Volker Göschl-Covrljan +#$ DISCUSSION: https://discord.gg/RqbQBuh7pu + +#$ PARSER: MARKED +#$ DESCRIPTION:
+#$ DESCRIPTION: +#$ DESCRIPTION: +#$ DESCRIPTION: # Base-tune for the Squirrel 35 +#$ DESCRIPTION: Works just fine in combination with the squirrel filter preset +#$ DESCRIPTION: If you run bigger motors than the 3quack5 (1604/4040kV) reduce the master multiplier to 0.85 and raise from there; +#$ DESCRIPTION: If you run a small motors like 1404s you might need to raise thrust linearisation to 0.2 and start with a master-multiplier of 1.2 +#$ WARNING: Please load the adequate preset for your control-link and hit save +#$ DESCRIPTION: otherwise feed-forward will not be happy + +#$ INCLUDE: presets/4.5/tune/defaults.txt + + +# -- PIDS with ze sliders +set simplified_pids_mode = RPY +set simplified_master_multiplier = 95 +set simplified_i_gain = 100 +set simplified_d_gain = 115 +set simplified_pi_gain = 90 +set simplified_dmax_gain = 40 +set simplified_feedforward_gain = 80 +set simplified_pitch_d_gain = 95 +set simplified_pitch_pi_gain = 95 + +simplified_tuning apply + +# motor idle and linearity compensation +set thrust_linear = 18 +set throttle_boost = 0 +set dyn_idle_min_rpm = 34 + +# more fancy tuning stuff +set iterm_rotation = OFF +set iterm_relax = RP +set iterm_relax_type = SETPOINT +set iterm_relax_cutoff = 18 +set iterm_windup = 85 +set tpa_mode = D +set tpa_rate = 60 +set tpa_breakpoint = 1400 +set tpa_low_rate = 20 +set tpa_low_breakpoint = 1050 +set tpa_low_always = OFF + +set vbat_sag_compensation = 80 +set anti_gravity_gain = 65 +set anti_gravity_cutoff_hz = 5 +set anti_gravity_p_gain = 70 + +#$ OPTION BEGIN (UNCHECKED): I want to arm upside down + set small_angle = 180 +#$ OPTION END