From ac7956f46b69cedc68b9fe24533c5289fee3069d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Volker=20G=C3=B6schl-Covrljan?= Date: Wed, 15 May 2024 16:11:29 +0200 Subject: [PATCH 1/8] rubberquads presets for the squirrel35 and team-rates --- .../rubberquads/squirrel_35_filter.txt | 89 +++++++++++++++++++ presets/4.5/rates/rubberquads_team_rates.txt | 84 +++++++++++++++++ .../4.5/tune/rubberquads/squirrel35_tune.txt | 79 ++++++++++++++++ 3 files changed, 252 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..6fd597804 --- /dev/null +++ b/presets/4.5/filters/rubberquads/squirrel_35_filter.txt @@ -0,0 +1,89 @@ +#$ TITLE: 4.5 Filter settings for the RubberQuads Squirrel 35 (with RPM FILTERING). +#$ FIRMWARE_VERSION: 4.5 +#$ CATEGORY: FILTERS +#$ STATUS: COMMUNITY +#$ KEYWORDS: rubberquads, squirrel, DShot telemetry, filter, filters, clean, basic, betaflight +#$ AUTHOR: Volker Göschl-Covrljan +#$ DISCUSSION: https://discord.gg/RqbQBuh7pu + +#$ 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 rpm telemetry +set dshot_bidir = ON + +# -- Gyro filters -- +# Standard dynamic gyro lowpass cascade +set gyro_lpf1_dyn_min_hz = 500 +set gyro_lpf1_dyn_max_hz = 1000 +set gyro_lpf1_dyn_expo = 5 +set gyro_lpf1_type = PT1 +set gyro_lpf1_static_hz = 500 +set gyro_lpf2_type = PT1 +set gyro_lpf2_static_hz = 1000 + +# -- 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 + +#$ 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 + +# -- 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..373d4150a --- /dev/null +++ b/presets/4.5/rates/rubberquads_team_rates.txt @@ -0,0 +1,84 @@ +#$ TITLE: AOS Rates +#$ FIRMWARE_VERSION: 4.3 +#$ FIRMWARE_VERSION: 4.4 +#$ FIRMWARE_VERSION: 4.5 +#$ CATEGORY: RATES +#$ STATUS: COMMUNITY +#$ KEYWORDS: rates, freestyle, race, der_V, settek, rubberquads +#$ AUTHOR: Volker Göschl-Covrljan + +#$ 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-stick + +#$ INCLUDE: presets/4.3/rates/defaults.txt + +#$ OPTION_GROUP BEGIN: I want: + #$ OPTION BEGIN (CHECKED): Volkers freestyle rates + set rateprofile_name = - + 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 = - + 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 = - + 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 + +#$ OPTION_GROUP BEGIN: loaded rates into: + #$ OPTION BEGIN (CHECKED): 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 + 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..5b753110c --- /dev/null +++ b/presets/4.5/tune/rubberquads/squirrel35_tune.txt @@ -0,0 +1,79 @@ +#$ TITLE: Squirrel 3.5 tune +#$ FIRMWARE_VERSION: 4.5 +#$ CATEGORY: TUNE +#$ STATUS: COMMUNITY +#$ KEYWORDS: rubberquads, squirrel, 3.5, pid, tune, +#$ AUTHOR: Volker Göschl-Covrljan +#$ DISCUSSION: https://discord.gg/RqbQBuh7pu + +#$ 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 +set p_pitch = 38 +set i_pitch = 68 +set d_pitch = 40 +set f_pitch = 90 +set p_roll = 38 +set i_roll = 68 +set d_roll = 37 +set f_roll = 91 +set p_yaw = 38 +set i_yaw = 68 +set d_yaw = 0 +set f_yaw = 91 +set d_min_roll = 32 +set d_min_pitch = 35 +set d_min_yaw = 0 +set d_max_gain = 37 +set d_max_advance = 22 + +# -- PIDS but 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 +set simplified_dterm_filter = ON +set simplified_dterm_filter_multiplier = 145 + +# 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 +pid_at_min_throttle = ON +set anti_gravity_gain = 65 +set anti_gravity_cutoff_hz = 5 +set anti_gravity_p_gain = 70 + +#$ OPTION BEGIN (CHECKED): I want to arm upside down + set small_angle = 180 +#$ OPTION END From 87304ef720698ce4ea99d853bec493cfcf614bd8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Volker=20G=C3=B6schl-Covrljan?= Date: Thu, 16 May 2024 07:58:20 +0200 Subject: [PATCH 2/8] added rpm_filter frequencies (for 3-4") --- presets/4.5/filters/rubberquads/squirrel_35_filter.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/presets/4.5/filters/rubberquads/squirrel_35_filter.txt b/presets/4.5/filters/rubberquads/squirrel_35_filter.txt index 6fd597804..57ab2d05c 100644 --- a/presets/4.5/filters/rubberquads/squirrel_35_filter.txt +++ b/presets/4.5/filters/rubberquads/squirrel_35_filter.txt @@ -49,6 +49,8 @@ set dyn_notch_max_hz = 600 #$ 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) From 4ccf8271065c2f1ed308f57f03d4e96d5c3705bc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Volker=20G=C3=B6schl-Covrljan?= Date: Thu, 16 May 2024 08:35:33 +0200 Subject: [PATCH 3/8] thank you limon! --- .../rubberquads/squirrel_35_filter.txt | 31 +++---- presets/4.5/rates/rubberquads_team_rates.txt | 89 ++++++++++--------- .../4.5/tune/rubberquads/squirrel35_tune.txt | 27 ++---- 3 files changed, 66 insertions(+), 81 deletions(-) diff --git a/presets/4.5/filters/rubberquads/squirrel_35_filter.txt b/presets/4.5/filters/rubberquads/squirrel_35_filter.txt index 57ab2d05c..f6350b07e 100644 --- a/presets/4.5/filters/rubberquads/squirrel_35_filter.txt +++ b/presets/4.5/filters/rubberquads/squirrel_35_filter.txt @@ -6,6 +6,7 @@ #$ AUTHOR: Volker Göschl-Covrljan #$ DISCUSSION: https://discord.gg/RqbQBuh7pu +#$ PARSER: MARKED #$ DESCRIPTION:
#$ DESCRIPTION: #$ DESCRIPTION: @@ -53,24 +54,24 @@ 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 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 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 -- diff --git a/presets/4.5/rates/rubberquads_team_rates.txt b/presets/4.5/rates/rubberquads_team_rates.txt index 373d4150a..68a31ce17 100644 --- a/presets/4.5/rates/rubberquads_team_rates.txt +++ b/presets/4.5/rates/rubberquads_team_rates.txt @@ -1,4 +1,4 @@ -#$ TITLE: AOS Rates +#$ TITLE: RubberQuads Team Rates #$ FIRMWARE_VERSION: 4.3 #$ FIRMWARE_VERSION: 4.4 #$ FIRMWARE_VERSION: 4.5 @@ -7,6 +7,7 @@ #$ KEYWORDS: rates, freestyle, race, der_V, settek, rubberquads #$ AUTHOR: Volker Göschl-Covrljan +#$ PARSER: MARKED #$ DESCRIPTION:
#$ DESCRIPTION: #$ DESCRIPTION: @@ -21,57 +22,57 @@ #$ OPTION_GROUP BEGIN: I want: #$ OPTION BEGIN (CHECKED): Volkers freestyle rates - set rateprofile_name = - - 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 + set rateprofile_name = - + 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 = - - 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 + set rateprofile_name = - + 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 = - - 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 + set rateprofile_name = - + 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 #$ OPTION_GROUP BEGIN: loaded rates into: - #$ OPTION BEGIN (CHECKED): profile 1 + #$ OPTION BEGIN (UNCHECKED): profile 1 rateprofile 0 #$ OPTION END #$ OPTION BEGIN (UNCHECKED): profile 2 diff --git a/presets/4.5/tune/rubberquads/squirrel35_tune.txt b/presets/4.5/tune/rubberquads/squirrel35_tune.txt index 5b753110c..0a42955a3 100644 --- a/presets/4.5/tune/rubberquads/squirrel35_tune.txt +++ b/presets/4.5/tune/rubberquads/squirrel35_tune.txt @@ -6,6 +6,7 @@ #$ AUTHOR: Volker Göschl-Covrljan #$ DISCUSSION: https://discord.gg/RqbQBuh7pu +#$ PARSER: MARKED #$ DESCRIPTION:
#$ DESCRIPTION: #$ DESCRIPTION: @@ -18,26 +19,8 @@ #$ INCLUDE: presets/4.5/tune/defaults.txt -# -- PIDS -set p_pitch = 38 -set i_pitch = 68 -set d_pitch = 40 -set f_pitch = 90 -set p_roll = 38 -set i_roll = 68 -set d_roll = 37 -set f_roll = 91 -set p_yaw = 38 -set i_yaw = 68 -set d_yaw = 0 -set f_yaw = 91 -set d_min_roll = 32 -set d_min_pitch = 35 -set d_min_yaw = 0 -set d_max_gain = 37 -set d_max_advance = 22 -# -- PIDS but with ze sliders +# -- PIDS with ze sliders set simplified_pids_mode = RPY set simplified_master_multiplier = 95 set simplified_i_gain = 100 @@ -47,8 +30,8 @@ set simplified_dmax_gain = 40 set simplified_feedforward_gain = 80 set simplified_pitch_d_gain = 95 set simplified_pitch_pi_gain = 95 -set simplified_dterm_filter = ON -set simplified_dterm_filter_multiplier = 145 + +simplified_tuning apply # motor idle and linearity compensation set thrust_linear = 18 @@ -74,6 +57,6 @@ set anti_gravity_gain = 65 set anti_gravity_cutoff_hz = 5 set anti_gravity_p_gain = 70 -#$ OPTION BEGIN (CHECKED): I want to arm upside down +#$ OPTION BEGIN (UNCHECKED): I want to arm upside down set small_angle = 180 #$ OPTION END From 712e9a2884ab6bcf8c5b643312cdd29505fd733d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Volker=20G=C3=B6schl-Covrljan?= Date: Thu, 16 May 2024 09:19:00 +0200 Subject: [PATCH 4/8] changed status to experimental for now --- presets/4.5/filters/rubberquads/squirrel_35_filter.txt | 3 ++- presets/4.5/rates/rubberquads_team_rates.txt | 2 +- presets/4.5/tune/rubberquads/squirrel35_tune.txt | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/presets/4.5/filters/rubberquads/squirrel_35_filter.txt b/presets/4.5/filters/rubberquads/squirrel_35_filter.txt index f6350b07e..098c9facb 100644 --- a/presets/4.5/filters/rubberquads/squirrel_35_filter.txt +++ b/presets/4.5/filters/rubberquads/squirrel_35_filter.txt @@ -1,7 +1,7 @@ #$ TITLE: 4.5 Filter settings for the RubberQuads Squirrel 35 (with RPM FILTERING). #$ FIRMWARE_VERSION: 4.5 #$ CATEGORY: FILTERS -#$ STATUS: COMMUNITY +#$ STATUS: EXPERIMENTAL #$ KEYWORDS: rubberquads, squirrel, DShot telemetry, filter, filters, clean, basic, betaflight #$ AUTHOR: Volker Göschl-Covrljan #$ DISCUSSION: https://discord.gg/RqbQBuh7pu @@ -86,6 +86,7 @@ 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 diff --git a/presets/4.5/rates/rubberquads_team_rates.txt b/presets/4.5/rates/rubberquads_team_rates.txt index 68a31ce17..a2c465277 100644 --- a/presets/4.5/rates/rubberquads_team_rates.txt +++ b/presets/4.5/rates/rubberquads_team_rates.txt @@ -3,7 +3,7 @@ #$ FIRMWARE_VERSION: 4.4 #$ FIRMWARE_VERSION: 4.5 #$ CATEGORY: RATES -#$ STATUS: COMMUNITY +#$ STATUS: EXPERIMENTAL #$ KEYWORDS: rates, freestyle, race, der_V, settek, rubberquads #$ AUTHOR: Volker Göschl-Covrljan diff --git a/presets/4.5/tune/rubberquads/squirrel35_tune.txt b/presets/4.5/tune/rubberquads/squirrel35_tune.txt index 0a42955a3..16dfc4e4c 100644 --- a/presets/4.5/tune/rubberquads/squirrel35_tune.txt +++ b/presets/4.5/tune/rubberquads/squirrel35_tune.txt @@ -1,7 +1,7 @@ #$ TITLE: Squirrel 3.5 tune #$ FIRMWARE_VERSION: 4.5 #$ CATEGORY: TUNE -#$ STATUS: COMMUNITY +#$ STATUS: EXPERIMENTAL #$ KEYWORDS: rubberquads, squirrel, 3.5, pid, tune, #$ AUTHOR: Volker Göschl-Covrljan #$ DISCUSSION: https://discord.gg/RqbQBuh7pu From 3862c0a0d96126f3f16b7f24ef7b3a759af8975b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Volker=20G=C3=B6schl-Covrljan?= Date: Thu, 16 May 2024 10:31:02 +0200 Subject: [PATCH 5/8] some more fine tuning --- .gitignore | 2 ++ .../4.5/filters/rubberquads/squirrel_35_filter.txt | 9 ++------- presets/4.5/rates/rubberquads_team_rates.txt | 12 ++++++++---- presets/4.5/tune/rubberquads/squirrel35_tune.txt | 1 - 4 files changed, 12 insertions(+), 12 deletions(-) diff --git a/.gitignore b/.gitignore index 2f6635ff1..0b47c6d18 100644 --- a/.gitignore +++ b/.gitignore @@ -56,3 +56,5 @@ eeprom.bin # NPM packages folder /node_modules +index_hash.txt +index.json diff --git a/presets/4.5/filters/rubberquads/squirrel_35_filter.txt b/presets/4.5/filters/rubberquads/squirrel_35_filter.txt index 098c9facb..61c5404cb 100644 --- a/presets/4.5/filters/rubberquads/squirrel_35_filter.txt +++ b/presets/4.5/filters/rubberquads/squirrel_35_filter.txt @@ -21,18 +21,13 @@ #$ INCLUDE: presets/4.5/filters/defaults.txt -# enable dshot rpm telemetry +# 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_min_hz = 500 -set gyro_lpf1_dyn_max_hz = 1000 set gyro_lpf1_dyn_expo = 5 -set gyro_lpf1_type = PT1 -set gyro_lpf1_static_hz = 500 -set gyro_lpf2_type = PT1 -set gyro_lpf2_static_hz = 1000 # -- Gyro Sliders (on by default) -- # diff --git a/presets/4.5/rates/rubberquads_team_rates.txt b/presets/4.5/rates/rubberquads_team_rates.txt index a2c465277..a45760418 100644 --- a/presets/4.5/rates/rubberquads_team_rates.txt +++ b/presets/4.5/rates/rubberquads_team_rates.txt @@ -16,13 +16,17 @@ #$ 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-stick +#$ 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: I want: #$ OPTION BEGIN (CHECKED): Volkers freestyle rates - set rateprofile_name = - + set rateprofile_name = der_V_free set thr_mid = 20 set thr_expo = 30 set rates_type = ACTUAL @@ -38,7 +42,7 @@ set yaw_srate = 55 #$ OPTION END #$ OPTION BEGIN (UNCHECKED): Volkers race rates - set rateprofile_name = - + set rateprofile_name = der_V_race set thr_mid = 70 set thr_expo = 20 set rates_type = ACTUAL @@ -54,7 +58,7 @@ set yaw_srate = 40 #$ OPTION END #$ OPTION BEGIN (UNCHECKED): Settek rates - set rateprofile_name = - + set rateprofile_name = settek set thr_mid = 30 set thr_expo = 30 set rates_type = ACTUAL diff --git a/presets/4.5/tune/rubberquads/squirrel35_tune.txt b/presets/4.5/tune/rubberquads/squirrel35_tune.txt index 16dfc4e4c..9a827a97c 100644 --- a/presets/4.5/tune/rubberquads/squirrel35_tune.txt +++ b/presets/4.5/tune/rubberquads/squirrel35_tune.txt @@ -52,7 +52,6 @@ set tpa_low_breakpoint = 1050 set tpa_low_always = OFF set vbat_sag_compensation = 80 -pid_at_min_throttle = ON set anti_gravity_gain = 65 set anti_gravity_cutoff_hz = 5 set anti_gravity_p_gain = 70 From 08d9dd403fbeea8ab662a29ec38e13dd23a4c481 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Volker=20G=C3=B6schl-Covrljan?= Date: Fri, 17 May 2024 08:46:58 +0200 Subject: [PATCH 6/8] select profile BEFORE chanching the rates --- presets/4.5/rates/rubberquads_team_rates.txt | 24 +++++++++++--------- 1 file changed, 13 insertions(+), 11 deletions(-) diff --git a/presets/4.5/rates/rubberquads_team_rates.txt b/presets/4.5/rates/rubberquads_team_rates.txt index a45760418..bd37e7904 100644 --- a/presets/4.5/rates/rubberquads_team_rates.txt +++ b/presets/4.5/rates/rubberquads_team_rates.txt @@ -24,6 +24,18 @@ #$ 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 @@ -75,15 +87,5 @@ #$ OPTION END #$ OPTION_GROUP END -#$ OPTION_GROUP BEGIN: loaded rates into: - #$ 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 + From 5d1de62e911f7ed355a2704d56b62d0e05c5d928 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Volker=20G=C3=B6schl-Covrljan?= Date: Fri, 17 May 2024 09:09:06 +0200 Subject: [PATCH 7/8] restored .gitignore --- .gitignore | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/.gitignore b/.gitignore index 0b47c6d18..5f011d6ca 100644 --- a/.gitignore +++ b/.gitignore @@ -55,6 +55,4 @@ eeprom.bin /public # NPM packages folder -/node_modules -index_hash.txt -index.json +/node_modules \ No newline at end of file From 983b2c6ed1b14ab7b8db71b7cf77e7cf9236a7b2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Volker=20G=C3=B6schl-Covrljan?= Date: Fri, 17 May 2024 09:21:30 +0200 Subject: [PATCH 8/8] now with EOL --- .gitignore | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index 5f011d6ca..2f6635ff1 100644 --- a/.gitignore +++ b/.gitignore @@ -55,4 +55,4 @@ eeprom.bin /public # NPM packages folder -/node_modules \ No newline at end of file +/node_modules