Karate changes (#469)

* mid 2024 updates to the karate tunes.. for the karate lite we have new 4s 6s tunes but keeping the old spicy tune ( old spice ) for the karate race new spicy filter changes karate TT new filter ideas karate whoop the rpm diming in both changes it relies on getting rid of the gyro LPF1 as 4.5s filtering all perfroms a bit better than 4.4 and using the rpm weight instead of turning off the 3rd harmionc as you actaully need that notch with 3 blade props while you don't need the second set so much and turning off the 3rd has very little impact on the latency * Update karate_brushless_whoop.txt
betaflight · Jun 18, 2024 · 3b8aa36 · 3b8aa36
1 parent be4f70d
commit 3b8aa36
Show file tree

Hide file tree

Showing 4 changed files with 123 additions and 40 deletions.
diff --git a/presets/4.5/tune/karate/karate_brushless_whoop.txt b/presets/4.5/tune/karate/karate_brushless_whoop.txt
@@ -64,30 +64,26 @@ set dterm_lpf1_dyn_expo = 7
 # -- RPM filtering --
 set dshot_bidir = ON
 set rpm_filter_fade_range_hz = 100
+#$ OPTION BEGIN (CHECKED): 3 blade prop
+    set rpm_filter_weights = 100,50,100
+#$ OPTION END
+#$ OPTION BEGIN (UNCHECKED): 2 blade prop
+    set rpm_filter_weights = 100,100,50
+#$ OPTION END
+set rpm_filter_fade_range_hz = 100
 
 # -- Misc --
 set thrust_linear = 20
 
+# -- iTerm  --
+set iterm_relax_cutoff = 30
 
 # -- PIDsum limits --
 set iterm_limit = 500
 set pidsum_limit_yaw = 1000
 
 
 # -- PID values --
-set p_pitch = 41
-set i_pitch = 70
-set d_pitch = 37
-set f_pitch = 110
-set p_roll = 41
-set i_roll = 70
-set d_roll = 37
-set f_roll = 111
-set p_yaw = 41
-set i_yaw = 70
-set f_yaw = 111
-set d_min_roll = 37
-set d_min_pitch = 37
 set simplified_master_multiplier = 155
 set simplified_i_gain = 95
 set simplified_d_gain = 80
@@ -96,6 +92,7 @@ set simplified_dmax_gain = 0
 set simplified_feedforward_gain = 60
 set simplified_pitch_d_gain = 90
 set simplified_pitch_pi_gain = 95
+simplified_tuning apply
 
 #$ OPTION BEGIN (UNCHECKED): Dshot600
     set dshot_bidir = ON

diff --git a/presets/4.5/tune/karate/karate_race.txt b/presets/4.5/tune/karate/karate_race.txt
@@ -79,7 +79,7 @@ set thrust_linear = 0
 set throttle_boost = 2
 
 # -- iTerm  --
-set iterm_relax_cutoff = 20
+set iterm_relax_cutoff = 45
 
 # -- PIDsum limits --
 set iterm_limit = 500
@@ -120,7 +120,7 @@ set tpa_breakpoint = 1250
     set dyn_idle_p_gain = 35
 #$ OPTION END
 
-#$ OPTION BEGIN (UNCHECKED): Spicy tune
+#$ OPTION BEGIN (UNCHECKED): Old Spice
 
     #spicy tune use with care
     # -- Gyro Dynamic Notches --
@@ -148,6 +148,38 @@ set tpa_breakpoint = 1250
     simplified_tuning apply
 #$ OPTION END
 
+#$ OPTION BEGIN (UNCHECKED): New Spice ( mid 2024)
+    #spicy tune use with care
+
+    # -- Gyro Lowpass Filters --
+       set gyro_lpf1_dyn_min_hz = 0
+
+    # -- Gyro Dynamic Notches --
+    set dyn_notch_count = 1
+    set dyn_notch_q = 600
+    set dyn_notch_min_hz = 200
+    set dyn_notch_max_hz = 650
+
+    # -- Dterm filtering --
+    set dterm_lpf1_dyn_expo = 10
+
+    # -- RPM Filtering --
+    set rpm_filter_harmonics = 3
+    set rpm_filter_weights = 100,50,100
+    set rpm_filter_min_hz = 150
+
+    # -- PID values --
+    set simplified_pids_mode = RP
+    set simplified_i_gain = 115
+    set simplified_d_gain = 85
+    set simplified_pi_gain = 85
+    set simplified_dmax_gain = 140
+    set simplified_feedforward_gain = 105
+    set simplified_pitch_d_gain = 95
+    set simplified_pitch_pi_gain = 105
+    simplified_tuning apply
+#$ OPTION END
+
 #$ OPTION_GROUP BEGIN: Some popular RC Links
 
     #$ OPTION BEGIN (UNCHECKED): Tracer/ELRS 250Hz

diff --git a/presets/4.5/tune/karate/karate_race_lite.txt b/presets/4.5/tune/karate/karate_race_lite.txt
@@ -2,7 +2,7 @@
 #$ FIRMWARE_VERSION: 4.5
 #$ CATEGORY: TUNE
 #$ STATUS:  OFFICIAL
-#$ KEYWORDS: karate, race, 5 inch, 5", sugarK, limon, ctzsnooze, KarateBrot, ultralite, viper, viper lite, sliders
+#$ KEYWORDS: karate, race, 5 inch, 5", sugarK, limon, ctzsnooze, KarateBrot, ultralite, viper, viper lite, bezerkrc, neuron, nano, 2024 sliders
 #$ AUTHOR: sugarK
 
 #$ PARSER: MARKED
@@ -13,11 +13,11 @@
 #$ DESCRIPTION: <br>
 #$ DESCRIPTION:
 #$ DESCRIPTION: This racing tune was developed from the Karate Race tune to suit my new Viper lite ultralite 5" racer project. [Viper Lite](https://rotorbuilds.com/build/29775)
-#$ DESCRIPTION:
+#$ DESCRIPTION: The continued development comes from my new racing setup the Bezerk RC [Neuron nano](https://rotorbuilds.com/build/32174#c51556) 
 #$ DESCRIPTION: <br>
 #$ DESCRIPTION:
 #$ DESCRIPTION: This tune should be used with 48khz PWM settings or firmware and it 'SHOULD' work with other ultralite 5" frames eg the ET-5.
-#$ DESCRIPTION: The 4.4 version is slider based to make it easier to adjust for personal taste but use at your own risk.
+#$ DESCRIPTION: From Betaflight 4.4 the tune  is slider based to make it easier to adjust for personal taste but use at your own risk.
 #$ DESCRIPTION:
 #$ DESCRIPTION: <br>
 #$ DESCRIPTION:
@@ -41,7 +41,7 @@
 #$ INCLUDE: presets/4.5/tune/defaults.txt
 #$ INCLUDE: presets/4.5/filters/defaults.txt
 
-# -- Gyro lowpass filters --
+# -- Gyro Lowpass Filters --
 set gyro_lpf1_static_hz = 0
 set gyro_lpf1_dyn_min_hz = 500
 set gyro_lpf1_dyn_max_hz = 1000
@@ -54,10 +54,10 @@ set dyn_notch_q = 450
 set dyn_notch_min_hz = 125
 set dyn_notch_max_hz = 650
 
-# -- Dterm filtering --
+# -- Dterm Filtering --
 set dterm_lpf1_dyn_expo = 7
 
-# -- RPM filtering --
+# -- RPM Filtering --
 set dshot_bidir = ON
 set rpm_filter_fade_range_hz = 100
 
@@ -66,14 +66,14 @@ set yaw_spin_recovery = AUTO
 set thrust_linear = 20
 
 # -- iTerm  --
-set iterm_relax_cutoff = 20
+set iterm_relax_cutoff = 45
 
-# -- PIDsum limits --
+# -- PIDsum Limits --
 set iterm_limit = 500
 set pidsum_limit_yaw = 1000
 
 
-# -- PID values --
+# -- PID Values --
 set simplified_pids_mode = RP
 set simplified_i_gain = 115
 set simplified_d_gain = 75
@@ -100,7 +100,7 @@ set tpa_breakpoint = 1250
     set motor_pwm_protocol = Dshot300
 #$ OPTION END
 
-#$ OPTION BEGIN (UNCHECKED): Dynamic idle for 4s 2850-3000kv
+#$ OPTION BEGIN (UNCHECKED): Dynamic Idle for 4s 2850-3000kv
     #dynamic idle for 4s 2850-3000kv
     set dyn_idle_min_rpm = 50
     set dyn_idle_p_gain = 35
@@ -168,26 +168,26 @@ set tpa_breakpoint = 1250
 
 #$ OPTION_GROUP END
 
-#$ OPTION_GROUP BEGIN: Spicy Tune
+#$ OPTION_GROUP BEGIN: Old Spice
     #$ OPTION BEGIN (UNCHECKED): Spicy Filters
 
-        # -- Gyro lowpass filters --
+        # -- Gyro Lowpass Filters --
         set gyro_lpf2_static_hz = 650
 
         # -- Gyro Dynamic Notches --
         set dyn_notch_count = 1
         set dyn_notch_q = 500
 
-        # -- RPM filtering --
+        # -- RPM Filtering --
         set rpm_filter_harmonics = 2
 
-        # -- Dterm filtering --
+        # -- Dterm Filtering --
         set dterm_lpf1_dyn_expo = 10
 
-     #$ OPTION END
+    #$ OPTION END
     #$ OPTION BEGIN (UNCHECKED): Spicy PIDs (not for 6s)
 
-        # -- PID values --
+        # -- PID Values --
         set simplified_pids_mode = RP
         set simplified_master_multiplier = 110
         set simplified_i_gain = 115
@@ -202,9 +202,67 @@ set tpa_breakpoint = 1250
 
 #$ OPTION_GROUP END
 
+#$ OPTION_GROUP BEGIN: New Spice (mid 2024)
+    #$ OPTION BEGIN (UNCHECKED): New Spicy Filters and Iterm
+
+        # -- Gyro Lowpass Filters --
+       set gyro_lpf1_dyn_min_hz = 0
+
+        # -- Gyro Dynamic Notches --
+        set dyn_notch_count = 1
+        set dyn_notch_q = 450
+        set dyn_notch_min_hz = 125
+        set dyn_notch_max_hz = 650
+
+        # -- RPM Filtering --
+        set rpm_filter_harmonics = 3
+        set rpm_filter_weights = 100,50,100
+        set rpm_filter_fade_range_hz = 100
+
+    #$ OPTION END
+    #$ OPTION BEGIN (UNCHECKED): 4s Tune
+
+        # --set profile 1 to 4s
+        profile 0
+        set profile_name = 4s
+
+        # -- 4s PID and Filter Values --
+        set simplified_pids_mode = RP
+        set simplified_master_multiplier = 110
+        set simplified_i_gain = 115
+        set simplified_d_gain = 80
+        set simplified_pi_gain = 85
+        set simplified_dmax_gain = 125
+        set simplified_pitch_d_gain = 90
+        set simplified_dterm_filter_multiplier = 110
+        simplified_tuning apply
+        set yaw_lowpass_hz = 50
+
+    #$ OPTION END
+    #$ OPTION BEGIN (UNCHECKED): 6s Tune
+
+        # --set profile 2 to 4s
+        profile 1
+        set profile_name = 6s
+
+        # -- 6s PID and Filter Values --
+        set simplified_pids_mode = RP
+        set simplified_i_gain = 115
+        set simplified_d_gain = 85
+        set simplified_pi_gain = 85
+        set simplified_dmax_gain = 125
+        set simplified_pitch_d_gain = 90
+        set simplified_pitch_pi_gain = 110
+        set simplified_dterm_filter_multiplier = 90
+        simplified_tuning apply
+        set yaw_lowpass_hz = 50
+
+    #$ OPTION END
+#$ OPTION_GROUP END
+
 
-#$ OPTION_GROUP BEGIN: Optional rates
-    #$ OPTION BEGIN (UNCHECKED): sugarK's rates
+#$ OPTION_GROUP BEGIN: Optional Rates
+    #$ OPTION BEGIN (UNCHECKED): sugarK's Rates
         #$ INCLUDE: presets/4.3/rates/SugarK.txt
     #$ OPTION END
 

diff --git a/presets/4.5/tune/karate/tiny_karate.txt b/presets/4.5/tune/karate/tiny_karate.txt
@@ -38,12 +38,7 @@
 #$ INCLUDE: presets/4.5/filters/defaults.txt
 
 # -- Gyro lowpass filters --
-set gyro_lpf2_static_hz = 600
-set gyro_lpf1_dyn_min_hz = 500
-set gyro_lpf1_dyn_max_hz = 1000
-set acc_lpf_hz = 10
-set simplified_gyro_filter = OFF
-set simplified_gyro_filter_multiplier = 200
+set gyro_lpf1_static_hz = 0
 
 # -- Gyro Dynamic Notches --
 set dyn_notch_count = 1
@@ -56,6 +51,7 @@ set dterm_lpf1_dyn_expo = 10
 
 # -- RPM filtering --
 set dshot_bidir = ON
+set rpm_filter_weights = 100,50,100
 set rpm_filter_fade_range_hz = 100
 set motor_poles = 12
 
@@ -65,7 +61,7 @@ set thrust_linear = 0
 set throttle_boost = 7
 
 # -- iTerm  --
-set iterm_relax_cutoff = 20
+set iterm_relax_cutoff = 45
 
 # -- PIDsum limits --
 set iterm_limit = 500