#$ TITLE: Basher Freestyle 6S 5" by FPVian
#$ FIRMWARE_VERSION: 4.4
#$ CATEGORY: TUNE
#$ STATUS: COMMUNITY
#$ KEYWORDS: basher, freestyle, 5 Inch, 5 In, 5", bando, fpvian
#$ AUTHOR: FPVian
#$ DESCRIPTION: Want to be able to take your quad to the BANDO and still have it fly well?
#$ DESCRIPTION: Want a preset that you can load on to all your 5" Freestyle quads?
#$ DESCRIPTION: Don't want to give up the feeling of flying a well-tuned machine?
#$ DESCRIPTION:
#$ DESCRIPTION: Well look no further! Guaranteed to contain a filter preset that works for you.
#$ DESCRIPTION: Don't like it? Go fix your bashed-up quad!
#$ DESCRIPTION:
#$ DESCRIPTION: Optimized for AUW: ~700g (including HD cam), but anything should work fine.
#$ DESCRIPTION: The "Filtering for CLEAN builds" option is recommended for best overall performance.
#$ DESCRIPTION:
#$ DESCRIPTION: Leaving all filter options unchecked will leave the filters unchanged.
#$ DESCRIPTION: You MUST enable bidirectional DSHOT300 or DSHOT600 to use the filtering options.
#$ INCLUDE_WARNING: misc/warnings/en/rpm_filters.txt
#$ DISCUSSION: https://github.com/betaflight/firmware-presets/pull/166
#$ FORCE_OPTIONS_REVIEW: TRUE

# Set to Defaults

#$ INCLUDE: presets/4.4/tune/defaults.txt

# Defaults end


#PRESETS START

set tpa_mode = PD
set iterm_relax_cutoff = 10

set simplified_i_gain = 135
set simplified_pi_gain = 110
set simplified_dmax_gain = 0
set simplified_feedforward_gain = 140
set simplified_pitch_pi_gain = 105
simplified_tuning apply



#$ OPTION_GROUP BEGIN: Tuning Options
    #$ OPTION BEGIN (CHECKED): Set Dynamic Idle to 30
        set dyn_idle_min_rpm = 30
    #$ OPTION END

    #$ OPTION BEGIN (CHECKED): Disable Throttle Boost
        set throttle_boost = 0
    #$ OPTION END

    #$ OPTION BEGIN (UNCHECKED): Enable full Battery Sag Compensation
        set vbat_sag_compensation = 100
    #$ OPTION END
#$ OPTION_GROUP END



#$ OPTION_GROUP BEGIN: DSHOT Options (select one to enable filter options)
    #$ OPTION BEGIN (UNCHECKED): Dshot600
        set motor_pwm_protocol = DSHOT600
    #$ OPTION END

    #$ OPTION BEGIN (UNCHECKED): Dshot300
        set motor_pwm_protocol = Dshot300
    #$ OPTION END
#$ OPTION_GROUP END



#$ OPTION_GROUP BEGIN: Filters (select one)
    #$ OPTION BEGIN (UNCHECKED): Filtering for NOISY builds
        # Set filters to default

        #$ INCLUDE: presets/4.3/filters/defaults.txt

        # Defaults end

        # Filter presets begin

        set dshot_bidir = ON
        set gyro_lpf1_static_hz = 0
        set dyn_notch_count = 3
        set dyn_notch_q = 500
        set simplified_gyro_filter_multiplier = 130
        set simplified_dterm_filter_multiplier = 130
        simplified_tuning apply
    #$ OPTION END

    #$ OPTION BEGIN (UNCHECKED): Filtering for AVERAGE builds
        # Set filters to default

        #$ INCLUDE: presets/4.3/filters/defaults.txt

        # Defaults end

        #Filter presets begin

        set dshot_bidir = ON
        set gyro_lpf1_static_hz = 0
        set dyn_notch_count = 3
        set dyn_notch_q = 500
        set gyro_lpf1_dyn_min_hz = 0
        set gyro_lpf1_dyn_max_hz = 0
        set simplified_gyro_filter_multiplier = 130
        set rpm_filter_harmonics = 2
        set simplified_dterm_filter_multiplier = 130
        simplified_tuning apply
    #$ OPTION END

    #$ OPTION BEGIN (UNCHECKED): Filtering for CLEAN builds (recommended)
        # Set filters to default

        #$ INCLUDE: presets/4.3/filters/defaults.txt

        # Defaults end

        # Filter presets begin
        # It is recommended to use this option, if possible, for best overall performance.

        set dshot_bidir = ON
        set gyro_lpf1_static_hz = 0
        set dyn_notch_count = 1
        set dyn_notch_q = 500
        set gyro_lpf1_dyn_min_hz = 0
        set gyro_lpf1_dyn_max_hz = 0
        set simplified_gyro_filter_multiplier = 200
        set rpm_filter_harmonics = 2
        set simplified_dterm_filter_multiplier = 130
        set dterm_lpf1_dyn_expo = 10
        simplified_tuning apply
    #$ OPTION END

    #$ OPTION BEGIN (UNCHECKED): Filtering for VERY CLEAN builds
        # Set filters to default

        #$ INCLUDE: presets/4.3/filters/defaults.txt

        # Defaults end

        # Filter presets begin
        # VERY CLEAN option is only recommended if props/motors are always kept in pristine condition

        set dshot_bidir = ON
        set gyro_lpf1_static_hz = 0
        set dyn_notch_count = 1
        set dyn_notch_q = 500
        set gyro_lpf1_dyn_min_hz = 0
        set gyro_lpf1_dyn_max_hz = 0
        set simplified_gyro_filter_multiplier = 200
        set rpm_filter_harmonics = 2
        set simplified_dterm_filter_multiplier = 150
        set dterm_lpf1_dyn_expo = 10

        # Increase TPA breakpoint and PIDS

        set tpa_breakpoint = 1750
        set simplified_master_multiplier = 115
        simplified_tuning apply
    #$ OPTION END
#$ OPTION_GROUP END

#$ OPTION BEGIN (UNCHECKED): Flippy-Floppy Rates
    # Set rates to default

    #$ INCLUDE: presets/4.3/rates/defaults.txt

    # Defaults end

    # Rates presets begin

    set roll_rc_rate = 1
    set pitch_rc_rate = 1
    set yaw_rc_rate = 1
    set roll_srate = 100
    set pitch_srate = 100
    set yaw_srate = 70
#$ OPTION END
