Changes in 14950ed: fpv

				BOM-DAT/FPC-dat/FPC-dat.md
			
          @@ -82,4 +82,4 @@ This design actually has an FR4 and a polyimide stiffener, so two layers.

           - [[FPC-fab-dat]]

          -- [[FPC]]

          \ No newline at end of file

          +- [[FPC]] - [[FPC-socket]] - [[FPC-pin]]

          \ No newline at end of file

				Tech-dat/acturator-dat/propeller-dat/propeller-dat.md
			
          @@ -10,6 +10,40 @@

           ![](2025-09-13-13-56-08.png)

          +

          +## Ground Effect

          +

          +- When quad is close to surface → prop wash bounces air → airflow becomes turbulent  

          +- Creates unstable lift → drift or wobble sideways  

          +

          +→ **PID Sensitivity**  

          +- Too high P/D gains → overreact in turbulence  

          +- Too low I gain → can't hold position → drift  

          +

          +→ **Throttle Resolution**  

          +- Small throttle change indoors = big lift difference  

          +- Harder to keep steady near ground  

          +

          +

          +

          +## prop wash 

          +

          +### 📌 What is Prop Wash?

          +

          +- Prop wash is the **turbulent/dirty air** created by a drone’s propellers.

          +- When the drone flies into this disturbed airflow, the flight controller struggles to stabilize, causing:

          +  - Wobbles

          +  - Vibrations

          +  - Shaky footage

          +

          +

          +### 🔍 Typical Signs

          +- Shaking after a quick throttle drop → sudden throttle punch.

          +- Jitter when coming out of sharp turns.

          +- Visible oscillations in blackbox logs.

          +

          +

          +

           ## the number of the propeller 

           # Propeller Blade Count vs Flight Stability in FPV Drones

				Tech-dat/media-dat/video-dat/VTX-dat/VTX-dat.md
			
          @@ -9,6 +9,8 @@ The Video Transmitter (VTX) is a crucial component of the FPV system, wirelessly

           ## integrated solutions

          +

          +

           - [[DJI-air-unit-dat]] - [[DJI-O4-dat]] == 100 usd - [[DJI-O3-dat]] 

           - [[runCAM-dat]]

          @@ -29,6 +31,9 @@ The Video Transmitter (VTX) is a crucial component of the FPV system, wirelessly

           - [[goggles-dat]]

          +

          +

          +

           ## caddx 

           - [[mobula8-dat]] == Caddx ANT 1200TVL == 4:3

          @@ -53,14 +58,6 @@ The Video Transmitter (VTX) is a crucial component of the FPV system, wirelessly

          -## common pin out Analog 

          -

          -- MENU 

          -- Video 

          -- GND 

          -- 5-36V 

          -

          -

           ## ref

				Tech-dat/sensor-camera-dat/camera-analog-dat/camera-analog-dat.md
			
          @@ -11,3 +11,11 @@

           - [[camera-analog-dat]] - [[Caddx-dat]] - [[runCam-dat]]

          +

          +## common pin out Analog 

          +

          +- MENU 

          +- Video 

          +- GND 

          +- 5-36V 

          +

				Tech-dat/sensor-camera-dat/camera-digital-dat/camera-digital-dat.md
			
          @@ -3,4 +3,14 @@

           - [[camera-analog-dat]]

          -- [[DJI-dat]]

          \ No newline at end of file

          +

          +

          +

          +

          +- [[DJI-dat]] - [[DJI-O4-dat]]

          +

          +

          +

          +## ref 

          +

          +- [[VTX-dat]]

          \ No newline at end of file

				app-dat/RC-dat/FPV-dat/FPV-dat.md
			
          @@ -23,6 +23,10 @@

           - [[betaflight-dat]] - [[indoor-fly-dat]] - [[RC-configurator-dat]]

          +

          +

          +

          +

           ## build

           | indx | parts                     | cost RMB | cost USD/7      | eg. common select |

				app-dat/RC-dat/RC-configurator-dat/betaflight-dat/betaflight-PID-dat/betaflight-PID-dat.md
			
          @@ -6,6 +6,8 @@

           - [[betaflight-rateprofile-dat]]

          +- [[indoor-fly-PID-tuning-dat]]

          +

           ## works 

           ![](2025-09-15-03-20-15.png)

          @@ -112,8 +114,6 @@ Note: Generally overshoot in flips and rolls is due to not enough 'i-Term Relax'

          -

          -

           ![](2025-09-15-03-31-37.png)

           use PIDtoolbox to find the best value

          @@ -258,6 +258,27 @@ indoor

          +## TPA (Throttle PID Attenuation) Explained

          +

          +→ **TPA = Throttle PID Attenuation**  

          +- Reduces the influence of **P, I, D** at high throttle  

          +- Prevents aggressive PID corrections when motors are near full power  

          +

          +→ **TPA Breakpoint**  

          +- Defines the **throttle point (%)** where TPA starts reducing PID  

          +- Example: TPA Breakpoint = 1500 → above 1500/2000 throttle, PID attenuation begins  

          +

          +→ **How it Works**  

          +- At low/mid throttle → full PID control → precise, stable hover  

          +- At high throttle → PID reduced → prevents oscillations caused by strong motor output  

          +

          +→ **Indoor Fly Recommendation**  

          +- TPA can be **0–0.1** for small indoor quads → usually not needed  

          +- Breakpoint → not critical for indoor hover, keep default  

          +

          +

          +

          +

           ## ref 

           - [[PID]] - [[tech]]

				app-dat/RC-dat/RC-configurator-dat/betaflight-dat/indoor-fly-dat/indoor-fly-PID-tuning-dat.md
			
          @@ -0,0 +1,46 @@

          +

          +# indoor-fly-PID-tuning-dat.md

          +

          +

          +→ **Damping: D Gains → 1.0–1.4**  

          +- Keep moderate to reduce fast oscillations  

          +- Avoid too high → jitter on small indoor props  

          +

          +→ **Tracking: P & I Gains → 1.0**  

          +- Stable for indoor hover  

          +- Low enough to prevent twitchy movement  

          +

          +→ **Stick Response: FF (Feedforward) Gains → 0.8–1.0**  

          +- Smooth, predictable response to stick input  

          +- Don’t overdo → prevents overcorrecting during small indoor maneuvers  

          +

          +→ **Dynamic Damping: D Max → 0**  

          +- Disable aggressive D scaling for indoor flight  

          +- Keeps quad smooth in low-throttle hover  

          +

          +→ **Drift / Wobble: /Gains → 0.8–1.0**  

          +- Helps slow drift correction  

          +- Avoid too high → quad oscillates slowly  

          +

          +→ **Pitch Damping: Pitch:Roll D → 1.0**  

          +- Keep pitch & roll D similar → balanced indoor control  

          +

          +→ **Pitch Tracking: Pitch:Roll P, I & FF → 1.0**  

          +- Keeps stable hover during small corrections  

          +

          +→ **Master Multiplier → 1.5–1.6**  

          +- Adjust global scale of all PID terms  

          +- Indoor: keep lower to avoid twitchy behavior  

          +

          +

          +

          +✅ Notes:  

          +

          +- Test hover after each adjustment  

          +- Make small increments (0.05–0.1)  

          +- Goal: smooth, steady indoor hover with minimal stick corrections

          +

          +

          +## ref 

          +

          +- [[betaflight-PID-dat]]

          \ No newline at end of file

				app-dat/RC-dat/RC-configurator-dat/betaflight-dat/indoor-fly-dat/indoor-fly-dat.md
			
          @@ -1,7 +1,7 @@

           # indoor-fly-dat

          -- [[mobula8-dat]]

          +- [[mobula8-dat]] - [[indoor-fly-PID-tuning-dat]]

           - the way to fly indoor = do not control your throttle, use pitch

				app-dat/RC-dat/RC-supplier-dat/drone-maker-dat/happymodel-dat/mobula8-dat/mobula8-indoor-fly-dat/mobula8-indoor-1.txt
			
          @@ -65,11 +65,11 @@ vtxtable powerlabels 0 RCE 25 100 400

           # master

           set gyro_lpf1_static_hz = 0

          -set gyro_lpf2_static_hz = 0

          -set dyn_notch_q = 500

          -set dyn_notch_min_hz = 200

          -set gyro_lpf1_dyn_min_hz = 200

          -set gyro_lpf1_dyn_max_hz = 550

          +set gyro_lpf2_static_hz = 300

          +set dyn_notch_q = 250

          +set dyn_notch_min_hz = 150

          +set gyro_lpf1_dyn_min_hz = 120

          +set gyro_lpf1_dyn_max_hz = 360

           set acc_lpf_hz = 10

           set acc_trim_pitch = 1

           set acc_calibration = 1,-38,27,1

          @@ -140,16 +140,16 @@ set pinio_box = 255,255,255,255

           set expresslrs_uid = 9,212,226,35,100,206

           set expresslrs_rate_index = 1

           set expresslrs_switch_mode = HYBRID

          -set rpm_filter_min_hz = 150

          +set rpm_filter_min_hz = 90

           set craft_name = Mobula8

           profile 0

           # profile 0

          -set dterm_lpf1_dyn_min_hz = 100

          -set dterm_lpf1_dyn_max_hz = 200

          -set dterm_lpf1_static_hz = 150

          -set dterm_lpf2_static_hz = 0

          +set dterm_lpf1_dyn_min_hz = 70

          +set dterm_lpf1_dyn_max_hz = 140

          +set dterm_lpf1_static_hz = 120

          +set dterm_lpf2_static_hz = 200

           set vbat_sag_compensation = 100

           set anti_gravity_gain = 100

           set crash_recovery = ON

          @@ -157,22 +157,22 @@ set iterm_relax_cutoff = 25

           set yaw_lowpass_hz = 0

           set throttle_boost = 0

           set acro_trainer_angle_limit = 30

          -set p_pitch = 64

          -set i_pitch = 74

          -set d_pitch = 29

          -set f_pitch = 116

          -set p_roll = 68

          -set i_roll = 79

          -set d_roll = 30

          -set f_roll = 124

          +set p_pitch = 74

          +set i_pitch = 119

          +set d_pitch = 50

          +set f_pitch = 130

          +set p_roll = 70

          +set i_roll = 113

          +set d_roll = 46

          +set f_roll = 135

           set p_yaw = 53

           set i_yaw = 95

           set f_yaw = 130

           set angle_p_gain = 35

           set angle_limit = 45

           set horizon_level_strength = 50

          -set d_min_roll = 28

          -set d_min_pitch = 27

          +set d_min_roll = 0

          +set d_min_pitch = 0

           set d_max_advance = 0

           set motor_output_limit = 75

           set thrust_linear = 20

          @@ -180,17 +180,16 @@ set feedforward_jitter_factor = 5

           set feedforward_boost = 10

           set feedforward_max_rate_limit = 95

           set dyn_idle_min_rpm = 30

          -set simplified_pids_mode = RP

          -set simplified_master_multiplier = 80

          -set simplified_i_gain = 65

          +set simplified_pids_mode = OFF

          +set simplified_master_multiplier = 150

          +set simplified_i_gain = 90

           set simplified_d_gain = 120

          -set simplified_pi_gain = 190

          -set simplified_dmax_gain = 20

          -set simplified_feedforward_gain = 130

          -set simplified_pitch_d_gain = 85

          -set simplified_pitch_pi_gain = 90

          +set simplified_pi_gain = 105

          +set simplified_dmax_gain = 0

          +set simplified_feedforward_gain = 90

           set simplified_dterm_filter = OFF

           set tpa_mode = PD

          +set tpa_rate = 25

           set tpa_breakpoint = 1150

           set ez_landing_speed = 30

...	...	@@ -82,4 +82,4 @@ This design actually has an FR4 and a polyimide stiffener, so two layers.
82	82
83	83	- [[FPC-fab-dat]]
84	84
85		-- [[FPC]]
...	...	\ No newline at end of file
	0	+- [[FPC]] - [[FPC-socket]] - [[FPC-pin]]
...	...	\ No newline at end of file

...	...	@@ -65,11 +65,11 @@ vtxtable powerlabels 0 RCE 25 100 400
65	65
66	66	# master
67	67	set gyro_lpf1_static_hz = 0
68		-set gyro_lpf2_static_hz = 0
69		-set dyn_notch_q = 500
70		-set dyn_notch_min_hz = 200
71		-set gyro_lpf1_dyn_min_hz = 200
72		-set gyro_lpf1_dyn_max_hz = 550
	68	+set gyro_lpf2_static_hz = 300
	69	+set dyn_notch_q = 250
	70	+set dyn_notch_min_hz = 150
	71	+set gyro_lpf1_dyn_min_hz = 120
	72	+set gyro_lpf1_dyn_max_hz = 360
73	73	set acc_lpf_hz = 10
74	74	set acc_trim_pitch = 1
75	75	set acc_calibration = 1,-38,27,1
...	...	@@ -140,16 +140,16 @@ set pinio_box = 255,255,255,255
140	140	set expresslrs_uid = 9,212,226,35,100,206
141	141	set expresslrs_rate_index = 1
142	142	set expresslrs_switch_mode = HYBRID
143		-set rpm_filter_min_hz = 150
	143	+set rpm_filter_min_hz = 90
144	144	set craft_name = Mobula8
145	145
146	146	profile 0
147	147
148	148	# profile 0
149		-set dterm_lpf1_dyn_min_hz = 100
150		-set dterm_lpf1_dyn_max_hz = 200
151		-set dterm_lpf1_static_hz = 150
152		-set dterm_lpf2_static_hz = 0
	149	+set dterm_lpf1_dyn_min_hz = 70
	150	+set dterm_lpf1_dyn_max_hz = 140
	151	+set dterm_lpf1_static_hz = 120
	152	+set dterm_lpf2_static_hz = 200
153	153	set vbat_sag_compensation = 100
154	154	set anti_gravity_gain = 100
155	155	set crash_recovery = ON
...	...	@@ -157,22 +157,22 @@ set iterm_relax_cutoff = 25
157	157	set yaw_lowpass_hz = 0
158	158	set throttle_boost = 0
159	159	set acro_trainer_angle_limit = 30
160		-set p_pitch = 64
161		-set i_pitch = 74
162		-set d_pitch = 29
163		-set f_pitch = 116
164		-set p_roll = 68
165		-set i_roll = 79
166		-set d_roll = 30
167		-set f_roll = 124
	160	+set p_pitch = 74
	161	+set i_pitch = 119
	162	+set d_pitch = 50
	163	+set f_pitch = 130
	164	+set p_roll = 70
	165	+set i_roll = 113
	166	+set d_roll = 46
	167	+set f_roll = 135
168	168	set p_yaw = 53
169	169	set i_yaw = 95
170	170	set f_yaw = 130
171	171	set angle_p_gain = 35
172	172	set angle_limit = 45
173	173	set horizon_level_strength = 50
174		-set d_min_roll = 28
175		-set d_min_pitch = 27
	174	+set d_min_roll = 0
	175	+set d_min_pitch = 0
176	176	set d_max_advance = 0
177	177	set motor_output_limit = 75
178	178	set thrust_linear = 20
...	...	@@ -180,17 +180,16 @@ set feedforward_jitter_factor = 5
180	180	set feedforward_boost = 10
181	181	set feedforward_max_rate_limit = 95
182	182	set dyn_idle_min_rpm = 30
183		-set simplified_pids_mode = RP
184		-set simplified_master_multiplier = 80
185		-set simplified_i_gain = 65
	183	+set simplified_pids_mode = OFF
	184	+set simplified_master_multiplier = 150
	185	+set simplified_i_gain = 90
186	186	set simplified_d_gain = 120
187		-set simplified_pi_gain = 190
188		-set simplified_dmax_gain = 20
189		-set simplified_feedforward_gain = 130
190		-set simplified_pitch_d_gain = 85
191		-set simplified_pitch_pi_gain = 90
	187	+set simplified_pi_gain = 105
	188	+set simplified_dmax_gain = 0
	189	+set simplified_feedforward_gain = 90
192	190	set simplified_dterm_filter = OFF
193	191	set tpa_mode = PD
	192	+set tpa_rate = 25
194	193	set tpa_breakpoint = 1150
195	194	set ez_landing_speed = 30
196	195

...	...	@@ -10,6 +10,40 @@
10	10	![](2025-09-13-13-56-08.png)
11	11
12	12
	13	+
	14	+## Ground Effect
	15	+
	16	+- When quad is close to surface → prop wash bounces air → airflow becomes turbulent
	17	+- Creates unstable lift → drift or wobble sideways
	18	+
	19	+→ PID Sensitivity
	20	+- Too high P/D gains → overreact in turbulence
	21	+- Too low I gain → can't hold position → drift
	22	+
	23	+→ Throttle Resolution
	24	+- Small throttle change indoors = big lift difference
	25	+- Harder to keep steady near ground
	26	+
	27	+
	28	+
	29	+## prop wash
	30	+
	31	+### 📌 What is Prop Wash?
	32	+
	33	+- Prop wash is the turbulent/dirty air created by a drone’s propellers.
	34	+- When the drone flies into this disturbed airflow, the flight controller struggles to stabilize, causing:
	35	+ - Wobbles
	36	+ - Vibrations
	37	+ - Shaky footage
	38	+
	39	+
	40	+### 🔍 Typical Signs
	41	+- Shaking after a quick throttle drop → sudden throttle punch.
	42	+- Jitter when coming out of sharp turns.
	43	+- Visible oscillations in blackbox logs.
	44	+
	45	+
	46	+
13	47	## the number of the propeller
14	48
15	49	# Propeller Blade Count vs Flight Stability in FPV Drones

...	...	@@ -9,6 +9,8 @@ The Video Transmitter (VTX) is a crucial component of the FPV system, wirelessly
9	9
10	10	## integrated solutions
11	11
	12	+
	13	+
12	14	- [[DJI-air-unit-dat]] - [[DJI-O4-dat]] == 100 usd - [[DJI-O3-dat]]
13	15
14	16	- [[runCAM-dat]]
...	...	@@ -29,6 +31,9 @@ The Video Transmitter (VTX) is a crucial component of the FPV system, wirelessly
29	31	- [[goggles-dat]]
30	32
31	33
	34	+
	35	+
	36	+
32	37	## caddx
33	38
34	39	- [[mobula8-dat]] == Caddx ANT 1200TVL == 4:3
...	...	@@ -53,14 +58,6 @@ The Video Transmitter (VTX) is a crucial component of the FPV system, wirelessly
53	58
54	59
55	60
56		-## common pin out Analog
57		-
58		-- MENU
59		-- Video
60		-- GND
61		-- 5-36V
62		-
63		-
64	61
65	62	## ref
66	63

...	...	@@ -11,3 +11,11 @@
11	11	- [[camera-analog-dat]] - [[Caddx-dat]] - [[runCam-dat]]
12	12
13	13
	14	+
	15	+## common pin out Analog
	16	+
	17	+- MENU
	18	+- Video
	19	+- GND
	20	+- 5-36V
	21	+

...	...	@@ -3,4 +3,14 @@
3	3
4	4	- [[camera-analog-dat]]
5	5
6		-- [[DJI-dat]]
...	...	\ No newline at end of file
	0	+
	1	+
	2	+
	3	+
	4	+- [[DJI-dat]] - [[DJI-O4-dat]]
	5	+
	6	+
	7	+
	8	+## ref
	9	+
	10	+- [[VTX-dat]]
...	...	\ No newline at end of file

...	...	@@ -23,6 +23,10 @@
23	23
24	24	- [[betaflight-dat]] - [[indoor-fly-dat]] - [[RC-configurator-dat]]
25	25
	26	+
	27	+
	28	+
	29	+
26	30	## build
27	31
28	32	\| indx \| parts \| cost RMB \| cost USD/7 \| eg. common select \|

...	...	@@ -6,6 +6,8 @@
6	6	- [[betaflight-rateprofile-dat]]
7	7
8	8
	9	+- [[indoor-fly-PID-tuning-dat]]
	10	+
9	11	## works
10	12
11	13	![](2025-09-15-03-20-15.png)
...	...	@@ -112,8 +114,6 @@ Note: Generally overshoot in flips and rolls is due to not enough 'i-Term Relax'
112	114
113	115
114	116
115		-
116		-
117	117	![](2025-09-15-03-31-37.png)
118	118
119	119	use PIDtoolbox to find the best value
...	...	@@ -258,6 +258,27 @@ indoor
258	258
259	259
260	260
	261	+## TPA (Throttle PID Attenuation) Explained
	262	+
	263	+→ TPA = Throttle PID Attenuation
	264	+- Reduces the influence of P, I, D at high throttle
	265	+- Prevents aggressive PID corrections when motors are near full power
	266	+
	267	+→ TPA Breakpoint
	268	+- Defines the throttle point (%) where TPA starts reducing PID
	269	+- Example: TPA Breakpoint = 1500 → above 1500/2000 throttle, PID attenuation begins
	270	+
	271	+→ How it Works
	272	+- At low/mid throttle → full PID control → precise, stable hover
	273	+- At high throttle → PID reduced → prevents oscillations caused by strong motor output
	274	+
	275	+→ Indoor Fly Recommendation
	276	+- TPA can be 0–0.1 for small indoor quads → usually not needed
	277	+- Breakpoint → not critical for indoor hover, keep default
	278	+
	279	+
	280	+
	281	+
261	282	## ref
262	283
263	284	- [[PID]] - [[tech]]

...	...	@@ -0,0 +1,46 @@
	1	+
	2	+# indoor-fly-PID-tuning-dat.md
	3	+
	4	+
	5	+→ Damping: D Gains → 1.0–1.4
	6	+- Keep moderate to reduce fast oscillations
	7	+- Avoid too high → jitter on small indoor props
	8	+
	9	+→ Tracking: P & I Gains → 1.0
	10	+- Stable for indoor hover
	11	+- Low enough to prevent twitchy movement
	12	+
	13	+→ Stick Response: FF (Feedforward) Gains → 0.8–1.0
	14	+- Smooth, predictable response to stick input
	15	+- Don’t overdo → prevents overcorrecting during small indoor maneuvers
	16	+
	17	+→ Dynamic Damping: D Max → 0
	18	+- Disable aggressive D scaling for indoor flight
	19	+- Keeps quad smooth in low-throttle hover
	20	+
	21	+→ Drift / Wobble: /Gains → 0.8–1.0
	22	+- Helps slow drift correction
	23	+- Avoid too high → quad oscillates slowly
	24	+
	25	+→ Pitch Damping: Pitch:Roll D → 1.0
	26	+- Keep pitch & roll D similar → balanced indoor control
	27	+
	28	+→ Pitch Tracking: Pitch:Roll P, I & FF → 1.0
	29	+- Keeps stable hover during small corrections
	30	+
	31	+→ Master Multiplier → 1.5–1.6
	32	+- Adjust global scale of all PID terms
	33	+- Indoor: keep lower to avoid twitchy behavior
	34	+
	35	+
	36	+
	37	+✅ Notes:
	38	+
	39	+- Test hover after each adjustment
	40	+- Make small increments (0.05–0.1)
	41	+- Goal: smooth, steady indoor hover with minimal stick corrections
	42	+
	43	+
	44	+## ref
	45	+
	46	+- [[betaflight-PID-dat]]
...	...	\ No newline at end of file

...	...	@@ -1,7 +1,7 @@
1	1
2	2	# indoor-fly-dat
3	3
4		-- [[mobula8-dat]]
	4	+- [[mobula8-dat]] - [[indoor-fly-PID-tuning-dat]]
5	5
6	6	- the way to fly indoor = do not control your throttle, use pitch
7	7