filter settings
Profile dependent Filter Settings
D Term Lowpass Filters
safe indoor tune
Gyro Lowpass Filters + Gyro RPM Filter + Dynamic Notch Filter
set gyro_lpf1_static_hz = 250
set gyro_lpf2_static_hz = OFF
set gyro_lpf1_dyn_min_hz = 200
set gyro_lpf1_dyn_max_hz = 550
set rpm_filter_min_hz = 150
set dyn_notch_min_hz = 200
set dyn_notch_q = 500
If motors get hot in <1 min → lower gyro_lpf1_static_hz back to 200.
If motors stay cool → you can even push gyro_lpf1_dyn_max_hz to 600.
D Term LowpassFilters + D Term Notch Filter + Yaw Lowpass Filter
set dterm_lpf1_static_hz = 150
set dterm_lpf1_dyn_min_hz = 100
set dterm_lpf1_dyn_max_hz = 200
set dterm_lpf2_static_hz = OFF
set yaw_lowpass_hz = 0