#$ TITLE: UWL 75mm Whoop Tune by FreshBread
#$ FIRMWARE_VERSION: 4.5
#$ CATEGORY: TUNE
#$ STATUS: EXPERIMENTAL
#$ KEYWORDS: UWL, underground, Whoop, 75mm, tune, acro, 1S, FreshBread
#$ AUTHOR: FPV_Cam
#$ DESCRIPTION: A tune for Underground Whoop League 75mm 1S whoop racing by FreshBread
#$ WARNING: You will need to ensure your ESC firmware supports Bidirectional DSHOT for the RPM limiter as well as use the RACE_PRO firmware option.
#$ DISCUSSION: https://github.com/betaflight/firmware-presets/pull/454 
#$ FORCE_OPTIONS_REVIEW: true

#$ INCLUDE: presets/4.5/tune/defaults.txt
#$ INCLUDE: presets/4.5/filters/defaults.txt

# Tune begin

set simplified_gyro_filter = OFF

set dyn_notch_count = 2
set dyn_notch_q = 500
set dyn_notch_max_hz = 650

set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 0
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 0

set gyro_lpf1_static_hz = 0
set gyro_lpf1_dyn_min_hz = 0
set gyro_lpf1_dyn_max_hz = 300

set gyro_lpf2_type = PT1
set gyro_lpf2_static_hz = 0

set acc_lpf_hz = 10

set simplified_dterm_filter = OFF
set dterm_lpf1_dyn_min_hz = 100
set dterm_lpf1_dyn_max_hz = 125
set dterm_lpf1_type = BIQUAD
#set dterm_lpf1_static_hz = 71
set dterm_lpf2_static_hz = 0

set simplified_pids_mode = RPY
set simplified_master_multiplier = 150
set simplified_pi_gain = 130
set simplified_i_gain = 20
set simplified_d_gain = 140
set simplified_dmax_gain = 0
set simplified_pitch_pi_gain = 90
set simplified_pitch_d_gain = 100

set anti_gravity_gain = 45
set iterm_relax_cutoff = 30
set dyn_idle_min_rpm = 94
set tpa_breakpoint = 1650

simplified_tuning apply

# End of tune


#$ OPTION BEGIN (UNCHECKED): UWL RPM Limiter Settings
    set dshot_bidir = ON
    set motor_poles = 12
    set rpm_limit = ON
    set rpm_limit_value = 31500
#$ OPTION END


#$ OPTION BEGIN (UNCHECKED): BMI270 gyro
    set pid_process_denom = 1
#$ OPTION END