UAV_tech_Cinewhoop

#$ TITLE: UAV Tech - Cinewhoop
#$ FIRMWARE_VERSION: 4.5
#$ FIRMWARE_VERSION: 4.5
#$ CATEGORY: TUNE
#$ STATUS: OFFICIAL
#$ KEYWORDS: cinewhoop
#$ AUTHOR: UAV Tech (Mark Spatz)

#$ PARSER: MARKED

#$ DESCRIPTION: I am a Betaflight contributor, Youtube content creator, and professional tuner [www.theuavtech.com](https://www.theuavtech.com)
#$ DESCRIPTION:
#$ DESCRIPTION: - [Preset Overview Video](https://youtu.be/dEuNa-V6pys)
#$ DESCRIPTION:
#$ DESCRIPTION:
#$ DESCRIPTION: Preset for this class of quadcopters:
#$ DESCRIPTION: -----------
#$ DESCRIPTION: <img src="https://theuavtech.com/wp-content/uploads/2023/02/cinewhoop-drone.png" width="350px"/>
#$ DESCRIPTION:
#$ DESCRIPTION: Description:
#$ DESCRIPTION: -----------
#$ DESCRIPTION: Base tune for a Cinewhoop.  This tune is good for 4S or 6S batteries.
#$ DESCRIPTION: The base preset assume you have your ESC set to 48K PWM (default). If you are on 24k or 96K, click the option above. Also if you would like to use with the RPM filtering or Dynamic Idle, click the option above. If you don't know what these features mean, click the links below for videos on each topic.  Also check out the "Discussions" button below if you want to see what settings this preset changes (screen shots).
#$ DESCRIPTION:
#$ DESCRIPTION: <img src="https://i0.wp.com/theuavtech.com/wp-content/uploads/2020/10/icon-150x150-1.png" width="100px" style="margin-left: auto; margin-right: auto; display: block;"/>
#$ DESCRIPTION:
#$ DESCRIPTION: Options (click for video):
#$ DESCRIPTION: -----------
#$ DESCRIPTION: - [What is ESC PWM Frequency?](https://youtu.be/v3806Incpvo)
#$ DESCRIPTION: - [More Whoop Battery @ 48k PWM!](https://youtu.be/iyQoOrXuldc)
#$ DESCRIPTION:
#$ DESCRIPTION:   (Recommendation: 48k | make sure to adjust in ESC settings)
#$ DESCRIPTION:
#$ DESCRIPTION:
#$ DESCRIPTION: - [What is the RPM Filter?](https://youtu.be/ve_TNB0D87U)
#$ DESCRIPTION: - [RPM vs. Dynamic Notch ONLY](https://youtu.be/ve_TNB0D87U)
#$ DESCRIPTION:
#$ DESCRIPTION:
#$ DESCRIPTION: - [What is Dynamic Idle?](https://youtu.be/2Mr-AP7K8YE)
#$ DESCRIPTION:
#$ DESCRIPTION: Need more HELP?
#$ DESCRIPTION: -----------
#$ DESCRIPTION: - [UAV Tech Discord](https://discordapp.com/invite/rCCzgeT)
#$ DESCRIPTION: - [Take it to the NEXT LEVEL!](https://theuavtech.com/tuning)
#$ DESCRIPTION:
#$ WARNING: Prior to selecting the "RPM Filter" or "Dynamic Idle" options, Bi-Directional DSHOT must be setup for your quad.  If you have not setup yet, click "CANCEL" and setup first (PROPS OFF to test).  If you have NOT selected the "RPM Filter" or "Dynamic Idle" options, YOU CAN IGNORE THIS MESSAGE.
#$ DISCUSSION: https://github.com/betaflight/firmware-presets/pull/208
#$ INCLUDE: presets/4.5/tune/defaults.txt
#$ INCLUDE: presets/4.5/filters/defaults.txt

# -- PID Settings --
set simplified_d_gain = 140
set simplified_pi_gain = 100
set simplified_feedforward_gain = 100
set simplified_dmax_gain = 0
set simplified_i_gain = 100
set simplified_pitch_d_gain = 100
set simplified_pitch_pi_gain = 100
set simplified_master_multiplier = 160

set iterm_relax_cutoff = 5
set vbat_sag_compensation = 100
set anti_gravity_gain = 90
set pidsum_limit = 1000
set pidsum_limit_yaw = 1000

#$ OPTION_GROUP BEGIN: Choose ONE Filter option (+ RPM filter if desired)
    #$ OPTION BEGIN (UNCHECKED): low Build Quality
    	# -- ADDER: For HIGH gyro vibration builds --
    	set simplified_gyro_filter = ON
    	set simplified_gyro_filter_multiplier = 40
    	set simplified_dterm_filter = ON
    	set simplified_dterm_filter_multiplier = 100
    	set dyn_notch_count = 4
    	set dyn_notch_min_hz = 80
    	set dyn_notch_max_hz = 550
    	set yaw_lowpass_hz = 90
    #$ OPTION END

    #$ OPTION BEGIN (CHECKED): Medium Build Quality
    	# -- ADDER: For Medium gyro vibration builds --
    	set simplified_gyro_filter = ON
    	set simplified_gyro_filter_multiplier = 60
    	set simplified_dterm_filter = ON
    	set simplified_dterm_filter_multiplier = 120
    	set dyn_notch_count = 3
    	set dyn_notch_min_hz = 100
    	set dyn_notch_max_hz = 550
    	set yaw_lowpass_hz = 125
    #$ OPTION END

    #$ OPTION BEGIN (UNCHECKED): HIGH Build Quality
    	# -- ADDER: For low gyro vibration builds --
    	set simplified_gyro_filter = ON
    	set simplified_gyro_filter_multiplier = 100
    	set simplified_dterm_filter = ON
    	set simplified_dterm_filter_multiplier = 120
    	set dyn_notch_count = 2
    	set dyn_notch_min_hz = 125
    	set dyn_notch_max_hz = 550
    	set yaw_lowpass_hz = 0
    #$ OPTION END

    #$ OPTION BEGIN (UNCHECKED): ... + enable RPM filter (if supported)
    	# -- ADDER: Enabled RPM filtering --
    	set motor_pwm_protocol = DSHOT600
    	set dshot_bidir = ON
    	set rpm_filter_harmonics = 2
    	set dyn_notch_count = 2
    #$ OPTION END
#$ OPTION_GROUP END

#$ OPTION_GROUP BEGIN: (EXCLUSIVE) ESC PWM Options ...
    #$ OPTION BEGIN (UNCHECKED): 16 & 24k ESC PWM Settings
    	# -- ADDER: For 16 & 24k ESC PWM Settings --
    	set thrust_linear = 0
    #$ OPTION END

    #$ OPTION BEGIN (CHECKED): 48k ESC PWM Settings
    	# -- ADDER: For 48k ESC PWM Settings --
    	set thrust_linear = 20
    #$ OPTION END

    #$ OPTION BEGIN (UNCHECKED): 96k+ ESC PWM Settings
    	# -- ADDER: For 96k ESC PWM Settings --
    	set thrust_linear = 40
    #$ OPTION END
#$ OPTION_GROUP END

#$ OPTION_GROUP BEGIN: Prop Wash Performance Booster ...
    #$ OPTION BEGIN (UNCHECKED): Dynamic Idle
    	# -- ADDER: Enabling Dynamic Idle --
    	set dyn_idle_min_rpm = 35
    #$ OPTION END
#$ OPTION_GROUP END

simplified_tuning apply