nerdCopter_NBDHMBF4PRO_EmuFlight_CLI_Share_Tune.txt

# nerdCopter NBDHMBF4PRO (1S) based from PJClarke and 3dracingman and personal EmuFlight experience.
# Not a diff per say, more a "preset", subject to change at any time.
# Nov 18 2020
#
# 3dracingman 65mm:
# P 90 D 85
# Q 6000/6000/4000 for non-Bosch
# sharpness 500
# gyro lpf 160
# dterm lpf 200
# idecay 3
# imuf_w 10 or 12
# emuboost/limit 160/45, yaw 2000/??
#
# PJClarke NBDHMBF4PRO:
# PIDs P/R:p80,i85,d75 Y:100,85,0
# Q 7000/7000/7000
# sharpness 1500
# gyro lpf 150
# dterm lpf 200
# idecay 7
# imuf_w 16
#
# nerdCopter mods:
# mix of above 2 plus my opinion
# yaw mods
# SPA non-defaults, especially yaw
# Q mods
# matrix mods
# WC & SDS off
# idecay 5
# emuboosts mods
# personal LED prefs

# version
# EmuFlight / NBDHMBF4PRO (HMBF4 PRO) 0.3.2 Nov 17 2020 / 21:00:14 (771f84c6c) MSP API: 1.49

# name
name NBDHMBF4PRO

# feature
feature AIRMODE
feature DYNAMIC_FILTER

# beacon
beacon RX_LOST
beacon RX_SET

# master
set gyro_lowpass_type = PT1
set gyro_lowpass_hz_roll = 160
set gyro_lowpass_hz_pitch = 160
set gyro_lowpass_hz_yaw = 160
set gyro_lowpass2_hz_roll = 0
set gyro_lowpass2_hz_pitch = 0
set gyro_lowpass2_hz_yaw = 0
set imuf_roll_q = 6500
set imuf_pitch_q = 6500
set imuf_yaw_q = 5500
set imuf_w = 12
set imuf_sharpness = 500
set crashflip_power_percent = 88      #YMMV, 85 works on flat surfaces for sure, somtimes need rocking, but sometimes i'm in short grass
set dynamic_gyro_notch_q = 300
set dynamic_gyro_notch_min_hz = 160
set fpv_mix_degrees = 0
set vbat_max_cell_voltage = 45
set runaway_takeoff_prevention = OFF

# profile
profile 0

set dterm_lowpass_type = PT1
set dterm_lowpass_hz_roll = 200
set dterm_lowpass_hz_pitch = 200
set dterm_lowpass_hz_yaw = 200
set dterm_lowpass2_hz_roll = 0
set dterm_lowpass2_hz_pitch = 0
set dterm_lowpass2_hz_yaw = 0
set smart_dterm_smoothing_roll = 0
set smart_dterm_smoothing_pitch = 0
set smart_dterm_smoothing_yaw = 0
set witchcraft_roll = 0
set witchcraft_pitch = 0
set witchcraft_yaw = 0
set spa_roll_p = 100
set spa_roll_i = 70
set spa_roll_d = 100
set spa_pitch_p = 100
set spa_pitch_i = 70
set spa_pitch_d = 100
set spa_yaw_p = 100
set spa_yaw_i = 50
set spa_yaw_d = 100
set throttle_boost = 0
set feathered_pids = 50
set i_decay = 5
set emu_boost = 160
set emu_boost_yaw = 160
set emu_boost_limit = 40
set emu_boost_limit_yaw = 50
set p_pitch = 90                # i'm at sea level. PJC also said higher gets tricky with airmode.
set i_pitch = 85
set d_pitch = 85                #
set p_roll = 90                 #
set i_roll = 85
set d_roll = 85                 #
set p_yaw = 90                  # i'm safely at yaw P100, but YMMV
set i_yaw = 100                 # yaw I100 working fine with spa_yaw_i = 50
set d_yaw = 0
set p_angle_low = 30
set p_angle_high = 10
set level_limit = 80
set horizon_tilt_effect = 80

#### personal options below ####

# rateprofile
rateprofile 0

set thr_mid = 5
set thr_expo = 40
set roll_rc_rate = 92
set pitch_rc_rate = 92
set yaw_rc_rate = 90
set roll_expo = 30
set pitch_expo = 30
set yaw_expo = 30
set roll_srate = 77
set pitch_srate = 77
set yaw_srate = 70
set rate_center_weight = 10

# led
led 0 9,9::CB:8
led 1 6,9::CB:8
led 2 6,6::CTW:9
led 3 9,6::CTW:9

# get this info from betaflight dump OR set manually
# set vtx_band = 1
# set vtx_channel = 8
set vtx_power = 2
set vtx_low_power_disarm = ON
# set vtx_freq = 5725
# set vcd_video_system = NTSC

## get this info from you betaflight dump OR use physical bind button
# set frsky_spi_tx_id = 162,75
# set frsky_spi_offset = -7
# set frsky_spi_bind_hop_data = 2,217,197,179,157,137,117,97,77,57,37,17,232,212,192,172,152,132,112,92,72,52,32,12,227,207,187,167,147,127,107,87,67,49,27,7,222,202,182,162,142,122,102,82,62,42,22,0,0,0