app-dat/RC-dat/RC-configurator-dat/betaflight-dat/betaflight-PID-dat/betaflight-PID-dat.md
... ...
@@ -72,7 +72,7 @@ use PIDtoolbox to find the best value
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-### Throttle and Motor Settings in betaflight
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+### Throttle and Motor Settings
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| set | value | expalination |
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| --------------------- | ----- | --------------------------------------------------------------------------------------- |
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@@ -82,6 +82,17 @@ use PIDtoolbox to find the best value
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| Vbat Sag Compensation | 100% | Compensates for voltage drop (“sag”) as the battery drains. |
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| Thrust Linearization | 40% | Adjusts throttle curve to make thrust output more linear (proportional) to stick input. |
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+indoor
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+
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+ set throttle_limit_percent = 75
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+
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+ set throttle_boost = 7
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+ # set throttle_boost = 0
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+ set dyn_idle_min_rpm = 30
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+ set dshot_idle_value = 600
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+ set motor_output_limit = 90
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+ save
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+
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#### dynamic idle
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... ...
@@ -156,6 +167,26 @@ A feature that reduces (relaxes) the effect of the I-term (integral) in the PID
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A feature that temporarily boosts the I-term (integral) of the PID controller during rapid throttle changes to help maintain stable flight and prevent sudden altitude drops or surges.
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+
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+
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+## PID Controller Settings
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+
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+### feed-foward in PID Controller Settings
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+
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+ set f_pitch = 160
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+ set f_roll = 155
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+ set f_yaw = 150
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+ set feedforward_boost = 20
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+ save
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+
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+If you prefer a softer, more stable indoor tune
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+
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+ set f_pitch = 135
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+ set f_roll = 130
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+ set f_yaw = 130
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+ set feedforward_boost = 10
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+ save
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+
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## ref
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- [[PID]] - [[tech]]
app-dat/RC-dat/RC-configurator-dat/betaflight-dat/betaflight-PID-dat/betaflight-PID-fliter-dat/betaflight-PID-fliter-dat.md
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@@ -9,3 +9,32 @@ Profile dependent Filter Settings
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D Term Lowpass Filters
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+
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+## safe indoor tune
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+
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+### Gyro Lowpass Filters + Gyro RPM Filter + Dynamic Notch Filter
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+
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+
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+ set gyro_lpf1_static_hz = 250
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+ set gyro_lpf2_static_hz = OFF
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+
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+ set gyro_lpf1_dyn_min_hz = 200
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+ set gyro_lpf1_dyn_max_hz = 550
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+
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+ set rpm_filter_min_hz = 150
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+ set dyn_notch_min_hz = 200
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+ set dyn_notch_q = 500
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+
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+If motors get hot in <1 min → lower **gyro_lpf1_static_hz** back to 200.
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+
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+If motors stay cool → you can even push **gyro_lpf1_dyn_max_hz** to 600.
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+
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+
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+
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+### D Term LowpassFilters + D Term Notch Filter + Yaw Lowpass Filter
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+
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+ set dterm_lpf1_static_hz = 150
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+ set dterm_lpf1_dyn_min_hz = 100
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+ set dterm_lpf1_dyn_max_hz = 200
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+ set dterm_lpf2_static_hz = OFF
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+ set yaw_lowpass_hz = 0
... ...
\ No newline at end of file
app-dat/RC-dat/RC-configurator-dat/betaflight-dat/indoor-fly-dat/indoor-fly-dat.md
... ...
@@ -1,6 +1,8 @@
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# indoor-fly-dat
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+- [[mobula8-dat]]
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+
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- the way to fly indoor = do not control your throttle, use pitch
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app-dat/RC-dat/RC-supplier-dat/drone-maker-dat/happymodel-dat/mobula8-dat/mobula8-indoor-fly-dat/mobula8-indoor-1.txt
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@@ -0,0 +1,241 @@
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+defaults nosave
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+
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+
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+# version
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+# Betaflight / STM32F411 (S411) 4.5.2 Apr 8 2025 / 09:45:08 (024f8e13d) MSP API: 1.46
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+# config rev: 2f448eb
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+
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+# start the command batch
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+batch start
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+
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+# reset configuration to default settings
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+defaults nosave
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+
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+board_name CRAZYBEEF4SX1280
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+manufacturer_id HAMO
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+mcu_id 003b00543134510d33343336
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+signature
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+
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+# name: Mobula8
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+
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+# resources
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+resource LED_STRIP 1 NONE
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+
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+# dma
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+dma ADC 1 1
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+# ADC 1: DMA2 Stream 4 Channel 0
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+
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+# feature
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+feature -AIRMODE
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+feature TELEMETRY
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+feature OSD
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+
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+# serial
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+serial 1 2048 115200 57600 0 115200
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+
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+# beacon
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+beacon RX_LOST
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+beacon RX_SET
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+
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+# aux
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+aux 0 0 0 1700 2100 0 0
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+aux 1 1 1 1700 2100 0 0
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+aux 2 2 1 1300 1700 0 0
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+aux 3 13 3 1300 1700 0 0
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+aux 4 28 2 1300 1700 0 0
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+aux 5 35 2 1700 2100 0 0
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+
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+# adjrange
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+adjrange 0 0 3 1500 2100 12 3 0 0
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+adjrange 1 0 3 900 1500 12 3 0 0
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+adjrange 2 0 1 1800 2100 12 1 0 0
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+
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+# vtxtable
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+vtxtable bands 6
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+vtxtable channels 8
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+vtxtable band 1 BOSCAM_A A FACTORY 5865 5845 5825 5805 5785 5765 5745 5725
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+vtxtable band 2 BOSCAM_B B FACTORY 5733 5752 5771 5790 5809 5828 5847 5866
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+vtxtable band 3 BOSCAM_E E FACTORY 5705 5685 5665 0 5885 5905 0 0
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+vtxtable band 4 FATSHARK F FACTORY 5740 5760 5780 5800 5820 5840 5860 5880
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+vtxtable band 5 RACEBAND R FACTORY 5658 5695 5732 5769 5806 5843 5880 5917
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+vtxtable band 6 LOWRACE L FACTORY 5333 5373 5413 5453 5493 5533 5573 5613
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+vtxtable powerlevels 5
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+vtxtable powervalues 10 2 14 20 26
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+vtxtable powerlabels 0 RCE 25 100 400
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+
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+# master
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+set gyro_lpf1_static_hz = 0
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+set gyro_lpf2_static_hz = 0
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+set dyn_notch_q = 500
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+set dyn_notch_min_hz = 200
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+set gyro_lpf1_dyn_min_hz = 200
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+set gyro_lpf1_dyn_max_hz = 550
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+set acc_lpf_hz = 10
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+set acc_trim_pitch = 1
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+set acc_calibration = 1,-38,27,1
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+set rc_smoothing_auto_factor = 25
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+set rc_smoothing_auto_factor_throttle = 25
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+set serialrx_provider = SPEK1024
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+set airmode_start_throttle_percent = 35
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+set blackbox_sample_rate = 1/2
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+set dshot_idle_value = 300
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+set dshot_bidir = ON
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+set dshot_bitbang = AUTO
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+set motor_poles = 12
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+set failsafe_delay = 4
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+set failsafe_recovery_delay = 20
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+set vbat_max_cell_voltage = 450
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+set vbat_min_cell_voltage = 310
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+set vbat_warning_cell_voltage = 320
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+set ibata_scale = 470
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+set small_angle = 180
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+set gps_provider = NMEA
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+set gps_ublox_flight_model = AIRBORNE_4G
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+set gps_rescue_min_start_dist = 30
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+set gps_rescue_ascend_rate = 500
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+set gps_rescue_ground_speed = 2000
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+set gps_rescue_descent_dist = 200
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+set gps_rescue_descend_rate = 100
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+set gps_rescue_landing_alt = 5
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+set gps_rescue_throttle_max = 1600
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+set gps_rescue_throttle_hover = 1280
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+set gps_rescue_sanity_checks = RESCUE_SANITY_ON
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+set gps_rescue_throttle_p = 150
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+set gps_rescue_throttle_i = 20
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+set gps_rescue_throttle_d = 50
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+set gps_rescue_velocity_p = 80
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+set gps_rescue_velocity_i = 20
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+set gps_rescue_velocity_d = 15
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+set gps_rescue_yaw_p = 40
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+set deadband = 5
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+set yaw_deadband = 5
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+set pid_process_denom = 2
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+set simplified_gyro_filter = OFF
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+set osd_rssi_pos = 314
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+set osd_link_quality_pos = 2392
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+set osd_rssi_dbm_pos = 2360
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+set osd_tim_2_pos = 2433
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+set osd_flymode_pos = 2457
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+set osd_throttle_pos = 2425
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+set osd_vtx_channel_pos = 2305
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+set osd_current_pos = 2336
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+set osd_mah_drawn_pos = 2368
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+set osd_craft_name_pos = 2442
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+set osd_warnings_pos = 2345
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+set osd_avg_cell_voltage_pos = 2401
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+set osd_disarmed_pos = 2314
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+set osd_esc_rpm_pos = 161
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+set osd_core_temp_pos = 2328
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+set osd_displayport_device = AUTO
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+set osd_canvas_width = 30
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+set osd_canvas_height = 13
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+set debug_mode = DUAL_GYRO_SCALED
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+set vtx_band = 5
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+set vtx_channel = 8
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+set vtx_low_power_disarm = ON
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+set vtx_freq = 5917
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+set vcd_video_system = NTSC
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+set pinio_box = 255,255,255,255
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+set expresslrs_uid = 9,212,226,35,100,206
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+set expresslrs_rate_index = 1
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+set expresslrs_switch_mode = HYBRID
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+set rpm_filter_min_hz = 150
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+set craft_name = Mobula8
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+
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+profile 0
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+
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+# profile 0
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+set dterm_lpf1_dyn_min_hz = 100
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+set dterm_lpf1_dyn_max_hz = 200
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+set dterm_lpf1_static_hz = 150
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+set dterm_lpf2_static_hz = 0
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+set vbat_sag_compensation = 100
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+set crash_recovery = ON
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+set iterm_relax_cutoff = 25
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+set yaw_lowpass_hz = 0
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+set throttle_boost = 0
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+set acro_trainer_angle_limit = 30
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+set p_pitch = 48
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+set i_pitch = 95
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+set d_pitch = 42
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+set f_pitch = 130
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+set i_roll = 90
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+set d_roll = 38
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+set f_roll = 135
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+set p_yaw = 53
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+set i_yaw = 95
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+set f_yaw = 130
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+set angle_limit = 45
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+set d_min_roll = 0
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+set d_min_pitch = 0
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+set d_max_advance = 0
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+set motor_output_limit = 75
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+set thrust_linear = 20
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+set feedforward_jitter_factor = 5
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+set feedforward_boost = 10
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+set feedforward_max_rate_limit = 95
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+set dyn_idle_min_rpm = 30
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+set simplified_pids_mode = OFF
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+set simplified_master_multiplier = 120
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+set simplified_i_gain = 65
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+set simplified_d_gain = 120
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+set simplified_pi_gain = 190
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+set simplified_dmax_gain = 20
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+set simplified_feedforward_gain = 130
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+set simplified_pitch_d_gain = 85
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+set simplified_pitch_pi_gain = 90
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+set simplified_dterm_filter = OFF
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+set tpa_mode = PD
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+set tpa_breakpoint = 1150
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+set ez_landing_speed = 30
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+
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+profile 1
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+
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+profile 2
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+
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+profile 3
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+
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+# restore original profile selection
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+profile 0
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+
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+rateprofile 0
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+
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+# rateprofile 0
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+set thr_expo = 70
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+set roll_rc_rate = 1
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+set pitch_rc_rate = 1
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+set yaw_rc_rate = 1
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+set roll_expo = 10
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+set pitch_expo = 10
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+set yaw_expo = 10
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+set roll_srate = 10
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+set pitch_srate = 10
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+set yaw_srate = 10
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+set throttle_limit_type = SCALE
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+set throttle_limit_percent = 65
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+
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+rateprofile 1
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+
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+rateprofile 2
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+
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+# rateprofile 2
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+set thr_expo = 50
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+set rates_type = BETAFLIGHT
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+set roll_rc_rate = 30
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+set pitch_rc_rate = 30
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+set yaw_rc_rate = 30
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+set roll_expo = 30
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+set pitch_expo = 30
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+set yaw_expo = 20
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+set roll_srate = 56
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+set pitch_srate = 56
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+set yaw_srate = 56
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+set throttle_limit_type = SCALE
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+set throttle_limit_percent = 75
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+
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+rateprofile 3
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+
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+# restore original rateprofile selection
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+rateprofile 0
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+
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+# save configuration
... ...
\ No newline at end of file
app-dat/RC-dat/RC-supplier-dat/drone-maker-dat/happymodel-dat/mobula8-dat/mobula8-indoor-fly-dat/mobula8-indoor-fly-dat.md
... ...
@@ -0,0 +1,10 @@
1
+
2
+# mobula8-indoor-fly-dat
3
+
4
+- [[betaflight-PID-dat]]
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+
6
+
7
+
8
+## ref
9
+
10
+- [[indoor-fly-dat]] - [[indoor-fly]] - [[betaflight]]
... ...
\ No newline at end of file