BetaFlight PID Tuning

This tune has: 1 log file
 
 

Sample log file ( LOG00007.BFL )

Added: 1 year ago
 
 
 
 
 

Add build photos/Blackbox Viewer or PIDToolbox screenshots

 
 
 

Noise response


 
 
 

Step response


 
 
 

FC Config

 
H Product:Blackbox flight data recorder by Nicholas Sherlock
H Data version:2
H Field I name:loopIteration,time,axisP[0],axisP[1],axisP[2],axisI[0],axisI[1],axisI[2],axisD[0],axisD[1],axisF[0],axisF
[1],axisF[2],rcCommand[0],rcCommand[1],rcCommand[2],rcCommand[3],setpoint[0],setpoint[1],setpoint[2],setpoint[3],vbatLat
est,amperageLatest,rssi,gyroADC[0],gyroADC[1],gyroADC[2],debug[0],debug[1],debug[2],debug[3],motor[0],motor[1],motor[2],
motor[3]
H Field I signed:0,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,0,1,0,1,1,1,1,1,1,1,0,0,0,0
H Field I predictor:0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0,0,0,0,0,0,0,0,11,5,5,5
H Field I encoding:1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,3,0,1,0,0,0,0,0,0,0,1,0,0,0
H Field P predictor:6,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,3,3,3,3,3,3,3,3,3,3,3
H Field P encoding:9,0,0,0,0,7,7,7,0,0,0,0,0,8,8,8,8,8,8,8,8,6,6,6,0,0,0,0,0,0,0,0,0,0,0
H Field S name:flightModeFlags,stateFlags,failsafePhase,rxSignalReceived,rxFlightChannelsValid
H Field S signed:0,0,0,0,0
H Field S predictor:0,0,0,0,0
H Field S encoding:1,1,7,7,7
H Firmware type:Cleanflight
H Firmware revision:Betaflight 4.1.1 (1e5e3d369) STM32F745
H Firmware date:Nov 15 2019 12:56:36
H Log start datetime:0000-01-01T00:00:00.000+00:00
H Craft name:
H I interval:128
H P interval:2
H P ratio:64
H minthrottle:1070
H maxthrottle:2000
H gyro_scale:0x3f800000
H motorOutput:158,2047
H acc_1G:0
H vbat_scale:110
H vbatcellvoltage:330,350,430
H vbatref:1591
H looptime:125
H gyro_sync_denom:1
H pid_process_denom:2
H thr_mid:50
H thr_expo:0
H tpa_rate:65
H tpa_breakpoint:1250
H rc_rates:125,125,125
H rc_expo:30,30,30
H rates:75,75,73
H rate_limits:1998,1998,1998
H rollPID:50,102,42
H pitchPID:55,108,46
H yawPID:36,108,0
H levelPID:50,50,75
H magPID:40
H d_min:24,26,0
H d_min_gain:29
H d_min_advance:22
H dterm_filter_type:0
H dterm_lowpass_hz:150
H dterm_lowpass_dyn_hz:70,170
H dterm_filter2_type:0
H dterm_lowpass2_hz:150
H yaw_lowpass_hz:0
H dterm_notch_hz:0
H dterm_notch_cutoff:0
H iterm_windup:100
H iterm_relax:1
H iterm_relax_type:1
H iterm_relax_cutoff:20
H vbat_pid_gain:1
H pidAtMinThrottle:1
H anti_gravity_mode:0
H anti_gravity_threshold:250
H anti_gravity_gain:10000
H abs_control_gain:0
H use_integrated_yaw:0
H feedforward_transition:10
H feedforward_weight:130,137,115
H ff_interpolate_sp:2
H ff_spike_limit:60
H ff_max_rate_limit:100
H ff_boost:15
H acc_limit_yaw:0
H acc_limit:0
H pidsum_limit:500
H pidsum_limit_yaw:400
H deadband:2
H yaw_deadband:2
H gyro_hardware_lpf:0
H gyro_lowpass_type:0
H gyro_lowpass_hz:200
H gyro_lowpass_dyn_hz:200,500
H gyro_lowpass2_type:0
H gyro_lowpass2_hz:250
H gyro_notch_hz:0,0
H gyro_notch_cutoff:0,0
H dyn_notch_range:1
H dyn_notch_width_percent:0
H dyn_notch_q:250
H dyn_notch_min_hz:150
H dshot_bidir:1
H gyro_rpm_notch_harmonics:3
H gyro_rpm_notch_q:500
H gyro_rpm_notch_min:100
H dterm_rpm_notch_harmonics:0
H dterm_rpm_notch_q:500
H dterm_rpm_notch_min:100
H rpm_notch_lpf:150
H acc_lpf_hz:1000
H acc_hardware:1
H baro_hardware:1
H mag_hardware:1
H gyro_cal_on_first_arm:0
H rc_interpolation:2
H rc_interpolation_interval:19
H rc_interpolation_channels:2
H airmode_activate_throttle:25
H serialrx_provider:12
H use_unsynced_pwm:0
H motor_pwm_protocol:7
H motor_pwm_rate:480
H dshot_idle_value:550
H debug_mode:6
H features:939787272
H rc_smoothing_type:1
H rc_smoothing_debug_axis:0
H rc_smoothing_cutoffs:0, 20
H rc_smoothing_auto_factor:10
H rc_smoothing_filter_type:1, 1
H rc_smoothing_active_cutoffs:64, 20
H rc_smoothing_rx_average:7070
 
 
 
 
 
 
name BFlight
resource BEEPER 1 C15
resource MOTOR 1 A02
resource MOTOR 2 B09
resource MOTOR 3 B08
resource MOTOR 4 A03
resource MOTOR 5 B07
resource MOTOR 6 B06
resource MOTOR 7 NONE
resource MOTOR 8 NONE
resource PPM 1 B04
resource SERIAL_TX 1 A09
resource SERIAL_TX 2 A14
resource SERIAL_TX 3 B10
resource SERIAL_RX 1 A10
resource SERIAL_RX 2 A15
resource SERIAL_RX 3 B11
resource LED 1 B03
resource LED 2 NONE
resource LED 3 NONE
resource RX_BIND 1 NONE
resource RX_BIND_PLUG 1 NONE
resource TRANSPONDER 1 A08
resource SPI_SCK 1 A05
resource SPI_SCK 2 B13
resource SPI_SCK 3 NONE
resource SPI_MISO 1 A06
resource SPI_MISO 2 B14
resource SPI_MISO 3 NONE
resource SPI_MOSI 1 A07
resource SPI_MOSI 2 B15
resource SPI_MOSI 3 NONE
resource ESCSERIAL 1 B04
resource CAMERA_CONTROL 1 NONE
resource ADC_BATT 1 A00
resource ADC_RSSI 1 NONE
resource ADC_CURR 1 A01
resource ADC_EXT 1 NONE
resource BARO_CS 1 A13
resource SDCARD_CS 1 B12
resource SDCARD_DETECT 1 C14
resource OSD_CS 1 B01
resource SPI_PREINIT_IPU 1 A04
resource SPI_PREINIT_IPU 2 B12
resource SPI_PREINIT_IPU 3 A13
resource SPI_PREINIT_IPU 4 B01

mixer CUSTOM
mmix reset

mmix 0  1.000 -0.822  1.000 -1.000
mmix 1  1.000 -0.822 -1.000  1.000
mmix 2  1.000  0.822  1.000  1.000
mmix 3  1.000  0.822 -1.000 -1.000
smix reset

feature -RX_PPM
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -RANGEFINDER
feature -TELEMETRY
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -OSD
feature -CHANNEL_FORWARDING
feature -TRANSPONDER
feature -AIRMODE
feature -RX_SPI
feature -SOFTSPI
feature -ESC_SENSOR
feature -ANTI_GRAVITY
feature -DYNAMIC_FILTER
feature RX_SERIAL
feature OSD
feature AIRMODE
feature ANTI_GRAVITY
feature DYNAMIC_FILTER

map TAER1234
serial 20 1 115200 57600 0 115200
serial 0 2048 115200 57600 0 115200
serial 1 1 115200 57600 0 115200
serial 2 64 115200 57600 0 115200

set align_gyro = DEFAULT
set gyro_hardware_lpf = NORMAL
set gyro_sync_denom = 2
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 100
set gyro_lowpass2_type = PT1
set gyro_lowpass2_hz = 300
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 0
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 0
set gyro_calib_duration = 125
set gyro_calib_noise_limit = 48
set gyro_offset_yaw = 0
set yaw_spin_recovery = ON
set yaw_spin_threshold = 1950
set dyn_notch_quality = 70
set dyn_notch_width_percent = 50
set align_acc = DEFAULT
set acc_hardware = NONE
set acc_lpf_hz = 10
set acc_trim_pitch = 0
set acc_trim_roll = 0
set acc_calibration = 0,0,0
set baro_bustype = SPI
set baro_spi_device = 1
set baro_i2c_device = 0
set baro_i2c_address = 0
set baro_hardware = NONE
set baro_tab_size = 21
set baro_noise_lpf = 600
set baro_cf_vel = 985
set baro_cf_alt = 965
set mid_rc = 1500
set min_check = 1005
set max_check = 1995
set rssi_channel = 8
set rssi_src_frame_errors = OFF
set rssi_scale = 100
set rssi_offset = 0
set rssi_invert = OFF
set rc_interp = AUTO
set rc_interp_ch = RPYT
set rc_interp_int = 19
set fpv_mix_degrees = 0
set max_aux_channels = 14
set serialrx_provider = SBUS
set serialrx_inverted = OFF
set spektrum_sat_bind = 0
set spektrum_sat_bind_autoreset = ON
set airmode_start_throttle_percent = 32
set rx_min_usec = 885
set rx_max_usec = 2115
set serialrx_halfduplex = OFF
set adc_device = 1
set blackbox_p_ratio = 32
set blackbox_device = SDCARD
set blackbox_record_acc = ON
set blackbox_mode = NORMAL
set min_throttle = 1075
set max_throttle = 2000
set min_command = 1000
set dshot_idle_value = 450
set use_unsynced_pwm = OFF
set motor_pwm_protocol = DSHOT600
set motor_pwm_rate = 480
set motor_pwm_inversion = OFF
set motor_poles = 14
set thr_corr_value = 0
set thr_corr_angle = 800
set failsafe_delay = 4
set failsafe_off_delay = 10
set failsafe_throttle = 1000
set failsafe_switch_mode = STAGE1
set failsafe_throttle_low_delay = 100
set failsafe_procedure = DROP
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 180
set gimbal_mode = NORMAL
set bat_capacity = 0
set vbat_max_cell_voltage = 43
set vbat_full_cell_voltage = 41
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set vbat_hysteresis = 1
set current_meter = ADC
set battery_meter = ADC
set vbat_detect_cell_voltage = 30
set use_vbat_alerts = ON
set use_cbat_alerts = OFF
set cbat_alert_percent = 10
set vbat_cutoff_percent = 100
set vbat_scale = 110
set vbat_divider = 10
set vbat_multiplier = 1
set ibata_scale = 400
set ibata_offset = 0
set ibatv_scale = 0
set ibatv_offset = 0
set beeper_inversion = ON
set beeper_od = OFF
set beeper_frequency = 0
set beeper_dshot_beacon_tone = 1
set yaw_motors_reversed = ON
set crashflip_motor_percent = 0
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set 3d_limit_low = 1000
set 3d_limit_high = 2000
set 3d_switched_mode = OFF
set servo_center_pulse = 1500
set servo_pwm_rate = 50
set servo_lowpass_hz = 0
set tri_unarmed_servo = ON
set channel_forwarding_start = 4
set reboot_character = 82
set serial_update_rate_hz = 100
set accxy_deadband = 40
set accz_deadband = 40
set acc_unarmedcal = ON
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set small_angle = 180
set auto_disarm_delay = 5
set gyro_cal_on_first_arm = OFF
set deadband = 0
set yaw_deadband = 0
set yaw_control_reversed = OFF
set pid_process_denom = 1
set runaway_takeoff_prevention = ON
set runaway_takeoff_deactivate_delay = 500
set runaway_takeoff_deactivate_throttle_percent = 25
set tlm_inverted = OFF
set tlm_halfduplex = ON
set frsky_vfas_precision = 0
set hott_alarm_int = 5
set pid_in_tlm = OFF
set report_cell_voltage = OFF
set smartport_use_extra_sensors = OFF
set sdcard_dma = OFF
set osd_units = METRIC
set osd_warn_arming_disable = ON
set osd_warn_batt_not_full = ON
set osd_warn_batt_warning = ON
set osd_warn_batt_critical = ON
set osd_warn_visual_beeper = ON
set osd_warn_crash_flip = ON
set osd_warn_esc_fail = ON
set osd_rssi_alarm = 20
set osd_cap_alarm = 2200
set osd_alt_alarm = 100
set osd_esc_temp_alarm = -128
set osd_esc_rpm_alarm = -1
set osd_esc_current_alarm = -1
set osd_ah_max_pit = 20
set osd_ah_max_rol = 40
set osd_tim1 = 2560
set osd_tim2 = 2561
set osd_vbat_pos = 234
set osd_rssi_pos = 2105
set osd_tim_1_pos = 2390
set osd_tim_2_pos = 2358
set osd_remaining_time_estimate_pos = 234
set osd_flymode_pos = 234
set osd_anti_gravity_pos = 234
set osd_g_force_pos = 234
set osd_throttle_pos = 234
set osd_vtx_channel_pos = 234
set osd_crosshairs_pos = 205
set osd_ah_sbar_pos = 206
set osd_ah_pos = 78
set osd_current_pos = 234
set osd_mah_drawn_pos = 234
set osd_craft_name_pos = 234
set osd_gps_speed_pos = 234
set osd_gps_lon_pos = 234
set osd_gps_lat_pos = 234
set osd_gps_sats_pos = 234
set osd_home_dir_pos = 234
set osd_home_dist_pos = 234
set osd_compass_bar_pos = 234
set osd_altitude_pos = 234
set osd_pid_roll_pos = 234
set osd_pid_pitch_pos = 234
set osd_pid_yaw_pos = 234
set osd_debug_pos = 234
set osd_power_pos = 234
set osd_pidrate_profile_pos = 234
set osd_warnings_pos = 2377
set osd_avg_cell_voltage_pos = 234
set osd_pit_ang_pos = 234
set osd_rol_ang_pos = 234
set osd_battery_usage_pos = 234
set osd_disarmed_pos = 234
set osd_nheading_pos = 234
set osd_nvario_pos = 234
set osd_esc_tmp_pos = 234
set osd_esc_rpm_pos = 234
set osd_rtc_date_time_pos = 234
set osd_adjustment_range_pos = 234
set osd_stat_rtc_date_time = OFF
set osd_stat_tim_1 = OFF
set osd_stat_tim_2 = ON
set osd_stat_max_spd = ON
set osd_stat_max_dist = OFF
set osd_stat_min_batt = ON
set osd_stat_endbatt = OFF
set osd_stat_battery = OFF
set osd_stat_min_rssi = ON
set osd_stat_max_curr = ON
set osd_stat_used_mah = ON
set osd_stat_max_alt = OFF
set osd_stat_bbox = ON
set osd_stat_bb_no = ON
set task_statistics = ON
set debug_mode = NONE
set rate_6pos_switch = OFF
set pwr_on_arm_grace = 5
set vtx_band = 5
set vtx_channel = 1
set vtx_power = 1
set vtx_low_power_disarm = OFF
set vtx_freq = 5658
set vtx_pit_mode_freq = 0
set vtx_halfduplex = ON
set vcd_video_system = NTSC
set vcd_h_offset = 0
set vcd_v_offset = 0
set max7456_clock = DEFAULT
set max7456_spi_bus = 1
set displayport_msp_col_adjust = 0
set displayport_msp_row_adjust = 0
set displayport_max7456_col_adjust = 0
set displayport_max7456_row_adjust = 0
set displayport_max7456_inv = OFF
set displayport_max7456_blk = 0
set displayport_max7456_wht = 2
set esc_sensor_halfduplex = OFF
set esc_sensor_current_offset = 0
set led_inversion = 0
set camera_control_mode = HARDWARE_PWM
set camera_control_ref_voltage = 330
set camera_control_key_delay = 180
set camera_control_internal_resistance = 470
set camera_control_inverted = OFF
set rcdevice_init_dev_attempts = 6
set rcdevice_init_dev_attempt_interval = 1000
profile 0

set dterm_lowpass_type = PT1
set dterm_lowpass_hz = 100
set dterm_lowpass2_hz = 200
set dterm_notch_hz = 0
set dterm_notch_cutoff = 0
set vbat_pid_gain = OFF
set pid_at_min_throttle = ON
set anti_gravity_mode = SMOOTH
set anti_gravity_threshold = 250
set anti_gravity_gain = 5000
set feedforward_transition = 15
set acc_limit_yaw = 100
set acc_limit = 0
set crash_dthreshold = 50
set crash_gthreshold = 400
set crash_setpoint_threshold = 350
set crash_time = 500
set crash_delay = 0
set crash_recovery_angle = 10
set crash_recovery_rate = 100
set crash_limit_yaw = 200
set crash_recovery = OFF
set iterm_rotation = ON
set smart_feedforward = OFF
set iterm_relax = RP
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 11
set iterm_windup = 40
set iterm_limit = 150
set pidsum_limit = 500
set pidsum_limit_yaw = 400
set yaw_lowpass_hz = 0
set throttle_boost = 5
set throttle_boost_cutoff = 15
set acro_trainer_angle_limit = 20
set acro_trainer_lookahead_ms = 50
set acro_trainer_debug_axis = ROLL
set acro_trainer_gain = 75
set p_pitch = 50
set i_pitch = 50
set d_pitch = 27
set f_pitch = 60
set p_roll = 45
set i_roll = 45
set d_roll = 25
set f_roll = 60
set p_yaw = 61
set i_yaw = 45
set d_yaw = 0
set f_yaw = 60
set p_level = 50
set i_level = 50
set d_level = 75
set level_limit = 55
set horizon_tilt_effect = 75
set horizon_tilt_expert_mode = OFF
rateprofile 0

set thr_mid = 50
set thr_expo = 0
set rates_type = BETAFLIGHT
set roll_rc_rate = 106
set pitch_rc_rate = 106
set yaw_rc_rate = 105
set roll_expo = 0
set pitch_expo = 0
set yaw_expo = 0
set roll_srate = 68
set pitch_srate = 68
set yaw_srate = 66
set tpa_rate = 15
set tpa_breakpoint = 1650
set throttle_limit_type = OFF
set throttle_limit_percent = 100
Diff result