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Karate changes #469

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merged 2 commits into from
Jun 18, 2024
Merged

Karate changes #469

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1e521aa
mid 2024 updates to the karate tunes..
sugaarK Jun 18, 2024
8603916
Update karate_brushless_whoop.txt
sugaarK Jun 18, 2024
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23 changes: 10 additions & 13 deletions presets/4.5/tune/karate/karate_brushless_whoop.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand Down
36 changes: 34 additions & 2 deletions presets/4.5/tune/karate/karate_race.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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 --
Expand Down Expand Up @@ -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
Expand Down
94 changes: 76 additions & 18 deletions presets/4.5/tune/karate/karate_race_lite.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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:
Expand All @@ -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
Expand All @@ -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

Expand All @@ -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
Expand All @@ -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
Expand Down Expand Up @@ -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
Expand All @@ -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

Expand Down
10 changes: 3 additions & 7 deletions presets/4.5/tune/karate/tiny_karate.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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

Expand All @@ -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
Expand Down
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