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rubberquads presets for the squirrel35 and team-rates #466

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merged 8 commits into from
May 17, 2024
Merged

rubberquads presets for the squirrel35 and team-rates #466

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ac7956f
rubberquads presets for the squirrel35 and team-rates
VolkerGoeschl May 15, 2024
87304ef
added rpm_filter frequencies (for 3-4")
VolkerGoeschl May 16, 2024
4ccf827
thank you limon!
VolkerGoeschl May 16, 2024
712e9a2
changed status to experimental for now
VolkerGoeschl May 16, 2024
3862c0a
some more fine tuning
VolkerGoeschl May 16, 2024
08d9dd4
select profile BEFORE chanching the rates
VolkerGoeschl May 17, 2024
5d1de62
restored .gitignore
VolkerGoeschl May 17, 2024
983b2c6
now with EOL
VolkerGoeschl May 17, 2024
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89 changes: 89 additions & 0 deletions presets/4.5/filters/rubberquads/squirrel_35_filter.txt
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#$ 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: <br>
#$ DESCRIPTION: <img src="https://www.rubberquads.com/static/rubberquads/RQ-logo_header.png" width="200px" style="margin-left: auto; margin-right: auto; display: block;"/>
#$ 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
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# -- Gyro filters --
# Standard dynamic gyro lowpass cascade
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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) --
84 changes: 84 additions & 0 deletions presets/4.5/rates/rubberquads_team_rates.txt
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#$ 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: <br>
#$ DESCRIPTION: <img src="https://www.rubberquads.com/static/rubberquads/RQ-logo_header.png" width="200px" style="margin-left: auto; margin-right: auto; display: block;"/>
#$ 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
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#$ 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:
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#$ 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

79 changes: 79 additions & 0 deletions presets/4.5/tune/rubberquads/squirrel35_tune.txt
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#$ 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: <br>
#$ DESCRIPTION: <img src="https://www.rubberquads.com/static/rubberquads/RQ-logo_header.png" width="200px" style="margin-left: auto; margin-right: auto; display: block;"/>
#$ 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
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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
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