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rubberquads presets for the squirrel35 and team-rates (#466)
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* rubberquads presets for the squirrel35 and team-rates

* added rpm_filter frequencies (for 3-4")

* thank you limon!

* changed status to experimental for now

* some more fine tuning

* select profile BEFORE chanching the rates

* restored .gitignore

* now with EOL
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@VolkerGoeschl
VolkerGoeschl authored May 17, 2024
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88 changes: 88 additions & 0 deletions presets/4.5/filters/rubberquads/squirrel_35_filter.txt
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#$ TITLE: 4.5 Filter settings for the RubberQuads Squirrel 35 (with RPM FILTERING).
#$ FIRMWARE_VERSION: 4.5
#$ CATEGORY: FILTERS
#$ STATUS: EXPERIMENTAL
#$ KEYWORDS: rubberquads, squirrel, DShot telemetry, filter, filters, clean, basic, betaflight
#$ 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:
#$ DESCRIPTION: # Universal Filter Settings for 3"-4" rigs
#$ DESCRIPTION:
#$ DESCRIPTION: WARNING: Requires RPM filtering. Ensure that bidirectional DShot working!
#$ DESCRIPTION: WARNING: May cause motor overheating -> Check temps after 30 seconds!
#$ DESCRIPTION: Intended for solid frames and clean props - will growl but fly home with bended props.
#$ DESCRIPTION: If motors get too hot, lower both filter-sliders by 0.2 and try again.



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

# enable dshot with rpm telemetry
set motor_pwm_protocol = Dshot600
set dshot_bidir = ON

# -- Gyro filters --
# Standard dynamic gyro lowpass cascade
set gyro_lpf1_dyn_expo = 5

# -- Gyro Sliders (on by default) --
#
set simplified_gyro_filter_multiplier = 200

# -- Gyro Static Notches (default)--

# -- Gyro Dynamic Notches --
set dyn_notch_count = 2
set dyn_notch_q = 600
set dyn_notch_min_hz = 100
set dyn_notch_max_hz = 600

# -- RPM filtering --
#$ INCLUDE_WARNING: misc/warnings/en/rpm_filters.txt
set dshot_bidir = ON
set rpm_filter_q = 650
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_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_GROUP END

# -- Dterm filtering --
set dterm_lpf1_dyn_min_hz = 108
set dterm_lpf1_dyn_max_hz = 217
set dterm_lpf1_dyn_expo = 5
set dterm_lpf1_type = PT1
set dterm_lpf1_static_hz = 108
set dterm_lpf2_type = PT1
set dterm_lpf2_static_hz = 217

# -- Dterm sliders 140 --
set simplified_dterm_filter = ON
set simplified_dterm_filter_multiplier = 140
simplified_tuning apply

# -- Yaw lowpass --
set yaw_lowpass_hz = 110
# -- Accelerometer lowpass (default) --
91 changes: 91 additions & 0 deletions presets/4.5/rates/rubberquads_team_rates.txt
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#$ TITLE: RubberQuads Team Rates
#$ FIRMWARE_VERSION: 4.3
#$ FIRMWARE_VERSION: 4.4
#$ FIRMWARE_VERSION: 4.5
#$ CATEGORY: RATES
#$ STATUS: EXPERIMENTAL
#$ 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:
#$ DESCRIPTION: #Rates from Team RubberQuads
#$ DESCRIPTION: This is what we like to rock on our sticks.
#$ DESCRIPTION: I (Volker) am a thumber so my center rates are pretty low to give me the ability to fly smooth and precise lines
#$ DESCRIPTION: My race-rates are toned down at the edge (550dps) but the same at the center to allow for a seamless transition
#$ DESCRIPTION: between ze flippyfloppies and racing/cinematic
#$ DESCRIPTION: Settek is flying hybrid so his rates are quite a bit higher around center-stickder_V_free
#$ DESCRIPTION: Be aware that we use a little throttle expo to get more precition where we need (want) it most:
#$ DESCRIPTION: my freestyle rates have it slightly over the hover-point to help with smooth, low flying and catching dives
#$ DESCRIPTION: Setteks mid-point is suited for fast cruising and my race-rates will keep my throttle output around 70%
#$ DESCRIPTION: for a wider range which reflects my current skills.

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

#$ OPTION_GROUP BEGIN: load rates into (if not selected it will load into the currently active slot):
#$ OPTION BEGIN (UNCHECKED): profile 1
rateprofile 0
#$ OPTION END
#$ OPTION BEGIN (UNCHECKED): profile 2
rateprofile 1
#$ OPTION END
#$ OPTION BEGIN (UNCHECKED): profile 3
rateprofile 2
#$ OPTION END
#$ OPTION_GROUP END

#$ OPTION_GROUP BEGIN: I want:
#$ OPTION BEGIN (CHECKED): Volkers freestyle rates
set rateprofile_name = der_V_free
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 = der_V_race
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 = settek
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



61 changes: 61 additions & 0 deletions presets/4.5/tune/rubberquads/squirrel35_tune.txt
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#$ TITLE: Squirrel 3.5 tune
#$ FIRMWARE_VERSION: 4.5
#$ CATEGORY: TUNE
#$ STATUS: EXPERIMENTAL
#$ KEYWORDS: rubberquads, squirrel, 3.5, pid, tune,
#$ 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:
#$ DESCRIPTION: # Base-tune for the Squirrel 35
#$ DESCRIPTION: Works just fine in combination with the squirrel filter preset
#$ DESCRIPTION: If you run bigger motors than the 3quack5 (1604/4040kV) reduce the master multiplier to 0.85 and raise from there;
#$ DESCRIPTION: If you run a small motors like 1404s you might need to raise thrust linearisation to 0.2 and start with a master-multiplier of 1.2
#$ WARNING: Please load the adequate preset for your control-link and hit save
#$ DESCRIPTION: otherwise feed-forward will not be happy

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


# -- PIDS with ze sliders
set simplified_pids_mode = RPY
set simplified_master_multiplier = 95
set simplified_i_gain = 100
set simplified_d_gain = 115
set simplified_pi_gain = 90
set simplified_dmax_gain = 40
set simplified_feedforward_gain = 80
set simplified_pitch_d_gain = 95
set simplified_pitch_pi_gain = 95

simplified_tuning apply

# motor idle and linearity compensation
set thrust_linear = 18
set throttle_boost = 0
set dyn_idle_min_rpm = 34

# more fancy tuning stuff
set iterm_rotation = OFF
set iterm_relax = RP
set iterm_relax_type = SETPOINT
set iterm_relax_cutoff = 18
set iterm_windup = 85
set tpa_mode = D
set tpa_rate = 60
set tpa_breakpoint = 1400
set tpa_low_rate = 20
set tpa_low_breakpoint = 1050
set tpa_low_always = OFF

set vbat_sag_compensation = 80
set anti_gravity_gain = 65
set anti_gravity_cutoff_hz = 5
set anti_gravity_p_gain = 70

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

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