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thank you limon!
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@VolkerGoeschl
VolkerGoeschl committed May 16, 2024
1 parent 87304ef commit 4ccf827
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Showing 3 changed files with 66 additions and 81 deletions.
31 changes: 16 additions & 15 deletions presets/4.5/filters/rubberquads/squirrel_35_filter.txt
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Expand Up @@ -6,6 +6,7 @@
#$ AUTHOR: Volker Göschl-Covrljan
#$ DISCUSSION: https://discord.gg/RqbQBuh7pu

#$ PARSER: MARKED
#$ DESCRIPTION: <br>
#$ DESCRIPTION: <img src="https://www.rubberquads.com/static/rubberquads/RQ-logo_header.png" width="200px" style="margin-left: auto; margin-right: auto; display: block;"/>
#$ DESCRIPTION:
Expand Down Expand Up @@ -53,24 +54,24 @@ set rpm_filter_min_hz = 120
set rpm_filter_fade_range_hz = 30

#$ OPTION_GROUP BEGIN: Count your magnets (in one bell)
#$ OPTION BEGIN (CHECKED): a lot (14)
set motor_poles = 14
#$ OPTION END
#$ OPTION BEGIN (UNCHECKED): a tad less (12)
set motor_poles = 12
#$ OPTION END
#$ OPTION BEGIN (CHECKED): a lot (14)
set motor_poles = 14
#$ OPTION END
#$ OPTION BEGIN (UNCHECKED): a tad less (12)
set motor_poles = 12
#$ OPTION END
#$ OPTION_GROUP END

#$ OPTION_GROUP BEGIN: Choose your prop
#$ OPTION BEGIN (CHECKED): Triblade
set rpm_filter_harmonics = 3
set rpm_filter_weights = 100,0,50
#$ OPTION END

#$ OPTION BEGIN (UNCHECKED): Biblade
set rpm_filter_harmonics = 2
set rpm_filter_weights = 100,70,0
#$ OPTION END
#$ OPTION BEGIN (CHECKED): Triblade
set rpm_filter_harmonics = 3
set rpm_filter_weights = 100,0,50
#$ OPTION END

#$ OPTION BEGIN (UNCHECKED): Biblade
set rpm_filter_harmonics = 2
set rpm_filter_weights = 100,70,0
#$ OPTION END
#$ OPTION_GROUP END

# -- Dterm filtering --
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89 changes: 45 additions & 44 deletions presets/4.5/rates/rubberquads_team_rates.txt
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@@ -1,4 +1,4 @@
#$ TITLE: AOS Rates
#$ TITLE: RubberQuads Team Rates
#$ FIRMWARE_VERSION: 4.3
#$ FIRMWARE_VERSION: 4.4
#$ FIRMWARE_VERSION: 4.5
Expand All @@ -7,6 +7,7 @@
#$ KEYWORDS: rates, freestyle, race, der_V, settek, rubberquads
#$ AUTHOR: Volker Göschl-Covrljan

#$ PARSER: MARKED
#$ DESCRIPTION: <br>
#$ DESCRIPTION: <img src="https://www.rubberquads.com/static/rubberquads/RQ-logo_header.png" width="200px" style="margin-left: auto; margin-right: auto; display: block;"/>
#$ DESCRIPTION:
Expand All @@ -21,57 +22,57 @@

#$ OPTION_GROUP BEGIN: I want:
#$ OPTION BEGIN (CHECKED): Volkers freestyle rates
set rateprofile_name = -
set thr_mid = 20
set thr_expo = 30
set rates_type = ACTUAL
set quickrates_rc_expo = OFF
set roll_rc_rate = 6
set pitch_rc_rate = 6
set yaw_rc_rate = 6
set roll_expo = 40
set pitch_expo = 40
set yaw_expo = 40
set roll_srate = 70
set pitch_srate = 70
set yaw_srate = 55
set rateprofile_name = -
set thr_mid = 20
set thr_expo = 30
set rates_type = ACTUAL
set quickrates_rc_expo = OFF
set roll_rc_rate = 6
set pitch_rc_rate = 6
set yaw_rc_rate = 6
set roll_expo = 40
set pitch_expo = 40
set yaw_expo = 40
set roll_srate = 70
set pitch_srate = 70
set yaw_srate = 55
#$ OPTION END
#$ OPTION BEGIN (UNCHECKED): Volkers race rates
set rateprofile_name = -
set thr_mid = 70
set thr_expo = 20
set rates_type = ACTUAL
set quickrates_rc_expo = OFF
set roll_rc_rate = 6
set pitch_rc_rate = 6
set yaw_rc_rate = 6
set roll_expo = 40
set pitch_expo = 40
set yaw_expo = 40
set roll_srate = 55
set pitch_srate = 55
set yaw_srate = 40
set rateprofile_name = -
set thr_mid = 70
set thr_expo = 20
set rates_type = ACTUAL
set quickrates_rc_expo = OFF
set roll_rc_rate = 6
set pitch_rc_rate = 6
set yaw_rc_rate = 6
set roll_expo = 40
set pitch_expo = 40
set yaw_expo = 40
set roll_srate = 55
set pitch_srate = 55
set yaw_srate = 40
#$ OPTION END
#$ OPTION BEGIN (UNCHECKED): Settek rates
set rateprofile_name = -
set thr_mid = 30
set thr_expo = 30
set rates_type = ACTUAL
set quickrates_rc_expo = OFF
set roll_rc_rate = 11
set pitch_rc_rate = 11
set yaw_rc_rate = 11
set roll_expo = 50
set pitch_expo = 50
set yaw_expo = 50
set roll_srate = 70
set pitch_srate = 70
set yaw_srate = 65
set rateprofile_name = -
set thr_mid = 30
set thr_expo = 30
set rates_type = ACTUAL
set quickrates_rc_expo = OFF
set roll_rc_rate = 11
set pitch_rc_rate = 11
set yaw_rc_rate = 11
set roll_expo = 50
set pitch_expo = 50
set yaw_expo = 50
set roll_srate = 70
set pitch_srate = 70
set yaw_srate = 65
#$ OPTION END
#$ OPTION_GROUP END

#$ OPTION_GROUP BEGIN: loaded rates into:
#$ OPTION BEGIN (CHECKED): profile 1
#$ OPTION BEGIN (UNCHECKED): profile 1
rateprofile 0
#$ OPTION END
#$ OPTION BEGIN (UNCHECKED): profile 2
Expand Down
27 changes: 5 additions & 22 deletions presets/4.5/tune/rubberquads/squirrel35_tune.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
#$ AUTHOR: Volker Göschl-Covrljan
#$ DISCUSSION: https://discord.gg/RqbQBuh7pu

#$ PARSER: MARKED
#$ DESCRIPTION: <br>
#$ DESCRIPTION: <img src="https://www.rubberquads.com/static/rubberquads/RQ-logo_header.png" width="200px" style="margin-left: auto; margin-right: auto; display: block;"/>
#$ DESCRIPTION:
Expand All @@ -18,26 +19,8 @@

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

# -- PIDS
set p_pitch = 38
set i_pitch = 68
set d_pitch = 40
set f_pitch = 90
set p_roll = 38
set i_roll = 68
set d_roll = 37
set f_roll = 91
set p_yaw = 38
set i_yaw = 68
set d_yaw = 0
set f_yaw = 91
set d_min_roll = 32
set d_min_pitch = 35
set d_min_yaw = 0
set d_max_gain = 37
set d_max_advance = 22

# -- PIDS but with ze sliders
# -- PIDS with ze sliders
set simplified_pids_mode = RPY
set simplified_master_multiplier = 95
set simplified_i_gain = 100
Expand All @@ -47,8 +30,8 @@ set simplified_dmax_gain = 40
set simplified_feedforward_gain = 80
set simplified_pitch_d_gain = 95
set simplified_pitch_pi_gain = 95
set simplified_dterm_filter = ON
set simplified_dterm_filter_multiplier = 145

simplified_tuning apply

# motor idle and linearity compensation
set thrust_linear = 18
Expand All @@ -74,6 +57,6 @@ set anti_gravity_gain = 65
set anti_gravity_cutoff_hz = 5
set anti_gravity_p_gain = 70

#$ OPTION BEGIN (CHECKED): I want to arm upside down
#$ OPTION BEGIN (UNCHECKED): I want to arm upside down
set small_angle = 180
#$ OPTION END

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