diff --git a/presets/4.5/tune/karate/karate_brushless_whoop.txt b/presets/4.5/tune/karate/karate_brushless_whoop.txt index 4f04ece5d..63a6d0590 100644 --- a/presets/4.5/tune/karate/karate_brushless_whoop.txt +++ b/presets/4.5/tune/karate/karate_brushless_whoop.txt @@ -64,10 +64,19 @@ set dterm_lpf1_dyn_expo = 7 # -- RPM filtering -- set dshot_bidir = ON set rpm_filter_fade_range_hz = 100 +#$ OPTION BEGIN (CHECKED): 3 blade prop + set rpm_filter_weights = 100,50,100 +#$ OPTION END +#$ OPTION BEGIN (UNCHECKED): 2 blade prop + set rpm_filter_weights = 100,100,50 +#$ OPTION END +set rpm_filter_fade_range_hz = 100 # -- Misc -- set thrust_linear = 20 +# -- iTerm -- +set iterm_relax_cutoff = 30 # -- PIDsum limits -- set iterm_limit = 500 @@ -75,19 +84,6 @@ set pidsum_limit_yaw = 1000 # -- PID values -- -set p_pitch = 41 -set i_pitch = 70 -set d_pitch = 37 -set f_pitch = 110 -set p_roll = 41 -set i_roll = 70 -set d_roll = 37 -set f_roll = 111 -set p_yaw = 41 -set i_yaw = 70 -set f_yaw = 111 -set d_min_roll = 37 -set d_min_pitch = 37 set simplified_master_multiplier = 155 set simplified_i_gain = 95 set simplified_d_gain = 80 @@ -96,6 +92,7 @@ set simplified_dmax_gain = 0 set simplified_feedforward_gain = 60 set simplified_pitch_d_gain = 90 set simplified_pitch_pi_gain = 95 +simplified_tuning apply #$ OPTION BEGIN (UNCHECKED): Dshot600 set dshot_bidir = ON diff --git a/presets/4.5/tune/karate/karate_race.txt b/presets/4.5/tune/karate/karate_race.txt index b1e5d5053..25ea1964d 100644 --- a/presets/4.5/tune/karate/karate_race.txt +++ b/presets/4.5/tune/karate/karate_race.txt @@ -79,7 +79,7 @@ set thrust_linear = 0 set throttle_boost = 2 # -- iTerm -- -set iterm_relax_cutoff = 20 +set iterm_relax_cutoff = 45 # -- PIDsum limits -- set iterm_limit = 500 @@ -120,7 +120,7 @@ set tpa_breakpoint = 1250 set dyn_idle_p_gain = 35 #$ OPTION END -#$ OPTION BEGIN (UNCHECKED): Spicy tune +#$ OPTION BEGIN (UNCHECKED): Old Spice #spicy tune use with care # -- Gyro Dynamic Notches -- @@ -148,6 +148,38 @@ set tpa_breakpoint = 1250 simplified_tuning apply #$ OPTION END +#$ OPTION BEGIN (UNCHECKED): New Spice ( mid 2024) + #spicy tune use with care + + # -- Gyro Lowpass Filters -- + set gyro_lpf1_dyn_min_hz = 0 + + # -- Gyro Dynamic Notches -- + set dyn_notch_count = 1 + set dyn_notch_q = 600 + set dyn_notch_min_hz = 200 + set dyn_notch_max_hz = 650 + + # -- Dterm filtering -- + set dterm_lpf1_dyn_expo = 10 + + # -- RPM Filtering -- + set rpm_filter_harmonics = 3 + set rpm_filter_weights = 100,50,100 + set rpm_filter_min_hz = 150 + + # -- PID values -- + set simplified_pids_mode = RP + set simplified_i_gain = 115 + set simplified_d_gain = 85 + set simplified_pi_gain = 85 + set simplified_dmax_gain = 140 + set simplified_feedforward_gain = 105 + set simplified_pitch_d_gain = 95 + set simplified_pitch_pi_gain = 105 + simplified_tuning apply +#$ OPTION END + #$ OPTION_GROUP BEGIN: Some popular RC Links #$ OPTION BEGIN (UNCHECKED): Tracer/ELRS 250Hz diff --git a/presets/4.5/tune/karate/karate_race_lite.txt b/presets/4.5/tune/karate/karate_race_lite.txt index 3b55ce1a5..70fa59f99 100644 --- a/presets/4.5/tune/karate/karate_race_lite.txt +++ b/presets/4.5/tune/karate/karate_race_lite.txt @@ -2,7 +2,7 @@ #$ FIRMWARE_VERSION: 4.5 #$ CATEGORY: TUNE #$ STATUS: OFFICIAL -#$ KEYWORDS: karate, race, 5 inch, 5", sugarK, limon, ctzsnooze, KarateBrot, ultralite, viper, viper lite, sliders +#$ KEYWORDS: karate, race, 5 inch, 5", sugarK, limon, ctzsnooze, KarateBrot, ultralite, viper, viper lite, bezerkrc, neuron, nano, 2024 sliders #$ AUTHOR: sugarK #$ PARSER: MARKED @@ -13,11 +13,11 @@ #$ DESCRIPTION: <br> #$ DESCRIPTION: #$ DESCRIPTION: This racing tune was developed from the Karate Race tune to suit my new Viper lite ultralite 5" racer project. [Viper Lite](https://rotorbuilds.com/build/29775) -#$ DESCRIPTION: +#$ DESCRIPTION: The continued development comes from my new racing setup the Bezerk RC [Neuron nano](https://rotorbuilds.com/build/32174#c51556) #$ DESCRIPTION: <br> #$ DESCRIPTION: #$ DESCRIPTION: This tune should be used with 48khz PWM settings or firmware and it 'SHOULD' work with other ultralite 5" frames eg the ET-5. -#$ DESCRIPTION: The 4.4 version is slider based to make it easier to adjust for personal taste but use at your own risk. +#$ DESCRIPTION: From Betaflight 4.4 the tune is slider based to make it easier to adjust for personal taste but use at your own risk. #$ DESCRIPTION: #$ DESCRIPTION: <br> #$ DESCRIPTION: @@ -41,7 +41,7 @@ #$ INCLUDE: presets/4.5/tune/defaults.txt #$ INCLUDE: presets/4.5/filters/defaults.txt -# -- Gyro lowpass filters -- +# -- Gyro Lowpass Filters -- set gyro_lpf1_static_hz = 0 set gyro_lpf1_dyn_min_hz = 500 set gyro_lpf1_dyn_max_hz = 1000 @@ -54,10 +54,10 @@ set dyn_notch_q = 450 set dyn_notch_min_hz = 125 set dyn_notch_max_hz = 650 -# -- Dterm filtering -- +# -- Dterm Filtering -- set dterm_lpf1_dyn_expo = 7 -# -- RPM filtering -- +# -- RPM Filtering -- set dshot_bidir = ON set rpm_filter_fade_range_hz = 100 @@ -66,14 +66,14 @@ set yaw_spin_recovery = AUTO set thrust_linear = 20 # -- iTerm -- -set iterm_relax_cutoff = 20 +set iterm_relax_cutoff = 45 -# -- PIDsum limits -- +# -- PIDsum Limits -- set iterm_limit = 500 set pidsum_limit_yaw = 1000 -# -- PID values -- +# -- PID Values -- set simplified_pids_mode = RP set simplified_i_gain = 115 set simplified_d_gain = 75 @@ -100,7 +100,7 @@ set tpa_breakpoint = 1250 set motor_pwm_protocol = Dshot300 #$ OPTION END -#$ OPTION BEGIN (UNCHECKED): Dynamic idle for 4s 2850-3000kv +#$ OPTION BEGIN (UNCHECKED): Dynamic Idle for 4s 2850-3000kv #dynamic idle for 4s 2850-3000kv set dyn_idle_min_rpm = 50 set dyn_idle_p_gain = 35 @@ -168,26 +168,26 @@ set tpa_breakpoint = 1250 #$ OPTION_GROUP END -#$ OPTION_GROUP BEGIN: Spicy Tune +#$ OPTION_GROUP BEGIN: Old Spice #$ OPTION BEGIN (UNCHECKED): Spicy Filters - # -- Gyro lowpass filters -- + # -- Gyro Lowpass Filters -- set gyro_lpf2_static_hz = 650 # -- Gyro Dynamic Notches -- set dyn_notch_count = 1 set dyn_notch_q = 500 - # -- RPM filtering -- + # -- RPM Filtering -- set rpm_filter_harmonics = 2 - # -- Dterm filtering -- + # -- Dterm Filtering -- set dterm_lpf1_dyn_expo = 10 - #$ OPTION END + #$ OPTION END #$ OPTION BEGIN (UNCHECKED): Spicy PIDs (not for 6s) - # -- PID values -- + # -- PID Values -- set simplified_pids_mode = RP set simplified_master_multiplier = 110 set simplified_i_gain = 115 @@ -202,9 +202,67 @@ set tpa_breakpoint = 1250 #$ OPTION_GROUP END +#$ OPTION_GROUP BEGIN: New Spice (mid 2024) + #$ OPTION BEGIN (UNCHECKED): New Spicy Filters and Iterm + + # -- Gyro Lowpass Filters -- + set gyro_lpf1_dyn_min_hz = 0 + + # -- Gyro Dynamic Notches -- + set dyn_notch_count = 1 + set dyn_notch_q = 450 + set dyn_notch_min_hz = 125 + set dyn_notch_max_hz = 650 + + # -- RPM Filtering -- + set rpm_filter_harmonics = 3 + set rpm_filter_weights = 100,50,100 + set rpm_filter_fade_range_hz = 100 + + #$ OPTION END + #$ OPTION BEGIN (UNCHECKED): 4s Tune + + # --set profile 1 to 4s + profile 0 + set profile_name = 4s + + # -- 4s PID and Filter Values -- + set simplified_pids_mode = RP + set simplified_master_multiplier = 110 + set simplified_i_gain = 115 + set simplified_d_gain = 80 + set simplified_pi_gain = 85 + set simplified_dmax_gain = 125 + set simplified_pitch_d_gain = 90 + set simplified_dterm_filter_multiplier = 110 + simplified_tuning apply + set yaw_lowpass_hz = 50 + + #$ OPTION END + #$ OPTION BEGIN (UNCHECKED): 6s Tune + + # --set profile 2 to 4s + profile 1 + set profile_name = 6s + + # -- 6s PID and Filter Values -- + set simplified_pids_mode = RP + set simplified_i_gain = 115 + set simplified_d_gain = 85 + set simplified_pi_gain = 85 + set simplified_dmax_gain = 125 + set simplified_pitch_d_gain = 90 + set simplified_pitch_pi_gain = 110 + set simplified_dterm_filter_multiplier = 90 + simplified_tuning apply + set yaw_lowpass_hz = 50 + + #$ OPTION END +#$ OPTION_GROUP END + -#$ OPTION_GROUP BEGIN: Optional rates - #$ OPTION BEGIN (UNCHECKED): sugarK's rates +#$ OPTION_GROUP BEGIN: Optional Rates + #$ OPTION BEGIN (UNCHECKED): sugarK's Rates #$ INCLUDE: presets/4.3/rates/SugarK.txt #$ OPTION END diff --git a/presets/4.5/tune/karate/tiny_karate.txt b/presets/4.5/tune/karate/tiny_karate.txt index d520bb249..c8173cc5c 100644 --- a/presets/4.5/tune/karate/tiny_karate.txt +++ b/presets/4.5/tune/karate/tiny_karate.txt @@ -38,12 +38,7 @@ #$ INCLUDE: presets/4.5/filters/defaults.txt # -- Gyro lowpass filters -- -set gyro_lpf2_static_hz = 600 -set gyro_lpf1_dyn_min_hz = 500 -set gyro_lpf1_dyn_max_hz = 1000 -set acc_lpf_hz = 10 -set simplified_gyro_filter = OFF -set simplified_gyro_filter_multiplier = 200 +set gyro_lpf1_static_hz = 0 # -- Gyro Dynamic Notches -- set dyn_notch_count = 1 @@ -56,6 +51,7 @@ set dterm_lpf1_dyn_expo = 10 # -- RPM filtering -- set dshot_bidir = ON +set rpm_filter_weights = 100,50,100 set rpm_filter_fade_range_hz = 100 set motor_poles = 12 @@ -65,7 +61,7 @@ set thrust_linear = 0 set throttle_boost = 7 # -- iTerm -- -set iterm_relax_cutoff = 20 +set iterm_relax_cutoff = 45 # -- PIDsum limits -- set iterm_limit = 500