From c5fa88597cdfdd416691c5e6d5f55db14f3d5773 Mon Sep 17 00:00:00 2001
From: Viki Baarathi <viki.baarathi@gmail.com>
Date: Thu, 25 Jan 2024 17:42:56 +0800
Subject: [PATCH] Barracuda tune to Betaflight 4.4 (#442)

* Introducing barracuda tune to betaflight

* Added discussion PR link

* Updated preset to comply with guideline

Switched Status to EXPERIMENTAL.
Used simplified tuning parameters instead of individual PID/Filter. Added Apply command at the end.
Removed preset profile name.
Moved RC link to the end.
Switched RC link to use generic preset.
Changed RC link to be UNCHECKED by default

* Corrected 500Hz file name
---
 presets/4.4/tune/barracuda_race_tune.txt | 68 ++++++++++++++++++++++++
 1 file changed, 68 insertions(+)
 create mode 100644 presets/4.4/tune/barracuda_race_tune.txt

diff --git a/presets/4.4/tune/barracuda_race_tune.txt b/presets/4.4/tune/barracuda_race_tune.txt
new file mode 100644
index 000000000..f902fc4a1
--- /dev/null
+++ b/presets/4.4/tune/barracuda_race_tune.txt
@@ -0,0 +1,68 @@
+#$ TITLE: Barracuda Racer Tune
+#$ FIRMWARE_VERSION: 4.4
+#$ CATEGORY: TUNE
+#$ STATUS: EXPERIMENTAL
+#$ KEYWORDS: 6S, race, racing, beginner, 5 inch, 5", viki, 2024
+#$ AUTHOR: Viki Baarathi
+
+#$ PARSER: MARKED
+
+#$ DESCRIPTION: This tune is ideal for beginners who are taking up drone racing. It's light on the motors yet allows for good performance.
+
+#$ DESCRIPTION: ### Requirements:
+#$ DESCRIPTION: - 5 inch race quads with 6S packs.
+#$ DESCRIPTION: - Works with Analog or HDZero
+#$ DESCRIPTION: - DSHOT600 with bidirectional DSHOT enabled. This is very important.
+#$ DESCRIPTION: - Stack nuts must be present and tight. The ones below the FC. Some call them the golden nuts or nuts of glory. 
+#$ DESCRIPTION: - Motor screws should be tight and arms should be solid and not gummy. 
+#$ DESCRIPTION: - Special thanks to testers Meor, Imad, Muqrie, AdilzFPV
+#$ DESCRIPTION: ### Recommendation:
+#$ DESCRIPTION: - Apply Barracuda filters
+#$ DESCRIPTION: - Apply RClink of ExpressLRS 250Hz or ExpressLRS 500Hz for racing
+#$ DESCRIPTION: ### BLHeli32 setting
+#$ DESCRIPTION: - Set low and high frequency to 48
+#$ DESCRIPTION: - Rampup power 25%
+#$ DESCRIPTION: - Motor timing 16 deg
+#$ DISCUSSION: https://github.com/betaflight/firmware-presets/pull/442
+#$ INCLUDE_WARNING: misc/warnings/en/dshot.txt
+
+#$ OPTION BEGIN (CHECKED): Recommended Barracuda Filters
+    #$ INCLUDE: presets/4.3/filters/defaults.txt
+    set simplified_gyro_filter_multiplier = 140
+    set gyro_lpf2_static_hz = 0
+
+#$ OPTION END
+
+#$ INCLUDE: presets/4.4/tune/defaults.txt
+set pidsum_limit = 1000
+set pidsum_limit_yaw = 1000
+set simplified_pids_mode = RPY
+set simplified_master_multiplier = 60
+set simplified_i_gain = 110
+set simplified_dmax_gain = 0
+set simplified_feedforward_gain = 80
+
+set dyn_notch_count = 1
+set dyn_notch_q = 500
+set dshot_bidir = ON
+set motor_pwm_protocol = DSHOT600
+
+simplified_tuning apply
+
+#$ OPTION_GROUP BEGIN: Recommended Race RC Links
+
+    #$ OPTION BEGIN (UNCHECKED): ELRS 250Hz Race Setup
+        feature RX_SERIAL
+        set serialrx_provider = CRSF
+        #$ INCLUDE: presets/4.3/rc_link/generic/250hz_race.txt
+
+    #$ OPTION END
+
+    #$ OPTION BEGIN (UNCHECKED): ELRS 500Hz Race setup
+        feature RX_SERIAL
+        set serialrx_provider = CRSF
+        #$ INCLUDE: presets/4.3/rc_link/generic/500hz_race.txt
+
+    #$ OPTION END
+
+#$ OPTION_GROUP END