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@ -40,7 +40,7 @@ presets.defaultValues = {
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ADVANCED_CONFIG: {"gyroSyncDenominator": 2, "pidProcessDenom": 1, "useUnsyncedPwm": 1, "motorPwmProtocol": 0, "motorPwmRate": 400, "servoPwmRate": 50, "gyroSync": 0},
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RC_tuning: {"RC_RATE": 1, "RC_EXPO": 0.7, "roll_pitch_rate": 0, "roll_rate": 200, "pitch_rate": 200, "yaw_rate": 200, "dynamic_THR_PID": 0, "throttle_MID": 0.5, "throttle_EXPO": 0, "dynamic_THR_breakpoint": 1500, "RC_YAW_EXPO": 0.2},
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PID_ADVANCED: {"rollPitchItermIgnoreRate": 200, "yawItermIgnoreRate": 50, "yawPLimit": 300, "axisAccelerationLimitRollPitch": 0, "axisAccelerationLimitYaw": 1000},
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FILTER_CONFIG: {"gyroSoftLpfHz": 60, "dtermLpfHz": 40, "yawLpfHz": 30, "gyroNotchHz1": 0, "gyroNotchCutoff1": 0, "dtermNotchHz": 0, "dtermNotchCutoff": 0, "gyroNotchHz2": 0, "gyroNotchCutoff2": 0},
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FILTER_CONFIG: {"gyroSoftLpfHz": 60, "dtermLpfHz": 40, "yawLpfHz": 30, "gyroNotchHz1": 0, "gyroNotchCutoff1": 0, "dtermNotchHz": 0, "dtermNotchCutoff": 0, "gyroNotchHz2": 0, "gyroNotchCutoff2": 0, "accNotchHz": 0, "accNotchCutoff": 0, "gyroStage2LowpassHz": 0},
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FC_CONFIG: {"loopTime": 2000}
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};
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@ -98,7 +98,7 @@ presets.presets = [
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features: [
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"Asynchronous processing",
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"OneShot125 at 2kHz",
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"800dps rates",
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"750dps rates",
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"Dterm and gyro notch filter",
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"Increased LPF cutoff frequencies",
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"Improved PID defaults"
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@ -116,21 +116,59 @@ presets.presets = [
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presets.elementHelper("ADVANCED_CONFIG", "motorPwmRate", 2000),
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presets.elementHelper("FILTER_CONFIG", "gyroSoftLpfHz", 90),
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presets.elementHelper("FILTER_CONFIG", "dtermLpfHz", 90),
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presets.elementHelper("RC_tuning", "roll_rate", 800),
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presets.elementHelper("RC_tuning", "pitch_rate", 800),
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presets.elementHelper("RC_tuning", "yaw_rate", 650),
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presets.elementHelper("RC_tuning", "roll_rate", 750),
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presets.elementHelper("RC_tuning", "pitch_rate", 750),
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presets.elementHelper("RC_tuning", "yaw_rate", 750),
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presets.elementHelper("RC_tuning", "RC_YAW_EXPO", 0.7),
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presets.elementHelper("FILTER_CONFIG", "dtermNotchHz", 260),
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presets.elementHelper("FILTER_CONFIG", "dtermNotchCutoff", 160),
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presets.elementHelper("FILTER_CONFIG", "gyroNotchHz1", 400),
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presets.elementHelper("FILTER_CONFIG", "gyroNotchCutoff1", 300),
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presets.elementHelper("FILTER_CONFIG", "gyroNotchHz2", 200),
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presets.elementHelper("FILTER_CONFIG", "gyroNotchCutoff2", 100),
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presets.elementHelper("PIDs", 0, [36, 35, 20]), //ROLL PIDs
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presets.elementHelper("PIDs", 1, [48, 45, 22]), //PITCH PIDs
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presets.elementHelper("PIDs", 0, [36, 40, 20]), //ROLL PIDs
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presets.elementHelper("PIDs", 1, [48, 50, 22]), //PITCH PIDs
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presets.elementHelper("PIDs", 2, [70, 45, 0]) //YAW PIDs
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],
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type: 'multirotor'
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},
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{
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name: '5" Performance',
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description: "210-220 class racer with F4/F7 CPU on 4S battery<br>" +
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"<span>450g-600g weight, 2300KV - 2600KV motors, 5 inch triblade propellers, MPU6000 or MPU6050 gyro.</span>" +
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"<strong>This preset uses agressive filter tuning. Check motor temperature! Do not use bended propellers or motors</strong>",
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features: [
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"8kHz / 4kHz / 4kHz",
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"Multishot",
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"750dps rates",
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"RC FIR2 stage 2 gyro filter",
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"Increased LPF cutoff frequencies",
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"Improved PID defaults"
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],
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applyDefaults: ["PIDs", "INAV_PID_CONFIG", "ADVANCED_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG", "FC_CONFIG"],
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settings: [
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presets.elementHelper("BF_CONFIG", "mixerConfiguration", 3),
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presets.elementHelper("INAV_PID_CONFIG", "asynchronousMode", 2),
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presets.elementHelper("FC_CONFIG", "loopTime", 250),
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presets.elementHelper("INAV_PID_CONFIG", "gyroscopeLpf", 0),
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presets.elementHelper("INAV_PID_CONFIG", "attitudeTaskFrequency", 100),
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presets.elementHelper("ADVANCED_CONFIG", "gyroSync", 1),
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presets.elementHelper("ADVANCED_CONFIG", "gyroSyncDenominator", 1),
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presets.elementHelper("ADVANCED_CONFIG", "motorPwmProtocol", 3),
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presets.elementHelper("ADVANCED_CONFIG", "motorPwmRate", 4000),
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presets.elementHelper("FILTER_CONFIG", "gyroSoftLpfHz", 100),
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presets.elementHelper("FILTER_CONFIG", "dtermLpfHz", 95),
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presets.elementHelper("RC_tuning", "roll_rate", 750),
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presets.elementHelper("RC_tuning", "pitch_rate", 750),
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presets.elementHelper("RC_tuning", "yaw_rate", 750),
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presets.elementHelper("RC_tuning", "RC_YAW_EXPO", 0.7),
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presets.elementHelper("FILTER_CONFIG", "gyroStage2LowpassHz", 220),
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presets.elementHelper("PIDs", 0, [32, 45, 23]), //ROLL PIDs
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presets.elementHelper("PIDs", 1, [38, 54, 25]), //PITCH PIDs
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presets.elementHelper("PIDs", 2, [75, 45, 0]) //YAW PIDs
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],
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type: 'multirotor'
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},
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{
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name: '5" GPS',
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description: "210-250 class quadcopter with F3/F4/F7 CPU on 3S or 4S battery<br>" +
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