I was flying the factory tune and it did ok for the big majority of users out there, especially for a lot of beginners that don't fix their broken props, check motor temperatures or need the best responsiveness besides smooth handling. A solid setup!
But I wanted better stick feel and better performance...
I've pushed PIDs a little more, as well as reduced the filters to decrease delay and get better gyro setpoint tracking. Mixed up with the the "Freeestyle 4.2.0 Betaflight preset" LINK
FF_Boost pushed, Thrust_Linear pushed, as well as some other new Betaflight features implemented.
It's more responsive, handles wind better and has higher performance for more advanced piloting.
Please make sure your motor temperature is ok with it and do a test flight in confined area before going out in the wild.
ESC firmware I've used doesn't differ from stock. 16.9 JazzMaverick on 48khz, RPM filter on.
The Configurator for this version can be found here: LINK
The value 'set rc_smoothing_auto_smoothness = 7' is set to 7 for Crossfire and DJI Radio at sbus_baud_fast. If you're using any other Radio like Frsky, you might set a higher smoothness value.
This DIFF was exported from Betaflight 4.2.5, please edit or adapt if the version changes in the future!
#feature
feature -RX_PARALLEL_PWM
feature RX_SERIAL
feature TELEMETRY
feature LED_STRIP
# beeper
beeper -ON_USB
# beacon
beacon RX_LOST
beacon RX_SET
# serial
serial 0 1 115200 57600 0 115200
serial 1 64 115200 57600 0 115200
# led
led 0 0,0::L:1
led 1 1,0::L:10
led 2 2,0::L:10
# color
color 0 105,106,211
color 1 119,255,255
color 2 1,1,255
color 14 249,163,255
color 15 153,13,118
# master
set gyro_lowpass2_hz = 500
set gyro_notch1_hz = 330
set gyro_notch1_cutoff = 220
set dyn_notch_width_percent = 0
set dyn_notch_q = 250
set dyn_notch_min_hz = 220
set dyn_notch_max_hz = 420
set dyn_lpf_gyro_min_hz = 400
set dyn_lpf_gyro_max_hz = 1000
set mag_hardware = NONE
set baro_hardware = NONE
set rc_smoothing_derivative_type = PT1
set rc_smoothing_auto_smoothness = 7
set serialrx_provider = CRSF
set dshot_idle_value = 900
set dshot_bidir = ON
set motor_pwm_protocol = DSHOT300
set motor_poles = 12
set align_board_yaw = 180
set vbat_max_cell_voltage = 440
set ibata_scale = 100
set yaw_motors_reversed = ON
set small_angle = 180
set yaw_deadband = 5
set thrust_linear = 30
set osd_vbat_pos = 455
set osd_rssi_pos = 2544
set osd_link_quality_pos = 481
set osd_rssi_dbm_pos = 345
set osd_tim_1_pos = 295
set osd_flymode_pos = 2546
set osd_throttle_pos = 441
set osd_current_pos = 2503
set osd_mah_drawn_pos = 2500
set osd_craft_name_pos = 2532
set osd_gps_speed_pos = 469
set osd_gps_lon_pos = 35
set osd_gps_lat_pos = 3
set osd_gps_sats_pos = 437
set osd_home_dir_pos = 428
set osd_home_dist_pos = 459
set osd_altitude_pos = 462
set osd_power_pos = 388
set osd_warnings_pos = 2442
set osd_avg_cell_voltage_pos = 2535
set osd_disarmed_pos = 2537
set debug_mode = GYRO_SCALED
set gyro_1_sensor_align = DEFAULT
set gyro_1_align_yaw = 1800
set gyro_rpm_notch_q = 700
set name = Protek 25 HD
profile 1
# profile 1
set dyn_lpf_dterm_min_hz = 105
set dyn_lpf_dterm_max_hz = 255
set dyn_lpf_dterm_curve_expo = 7
set dterm_lowpass2_hz = 225
set vbat_sag_compensation = 100
set feedforward_transition = 20
set iterm_relax_cutoff = 7
set iterm_windup = 70
set yaw_lowpass_hz = 100
set throttle_boost = 7
set throttle_boost_cutoff = 25
set p_pitch = 64
set i_pitch = 90
set d_pitch = 40
set f_pitch = 155
set p_roll = 59
set i_roll = 85
set f_roll = 150
set p_yaw = 90
set f_yaw = 150
set level_limit = 50
set d_min_roll = 0
set d_min_pitch = 0
set d_min_boost_gain = 50
set d_min_advance = 50
set ff_spike_limit = 70
set ff_smooth_factor = 20
set ff_boost = 25
My AUX switch setup has Angle mode on AUX2, Beeper and Turtle Mode on AUX4:
# aux
aux 0 0 0 1700 2100 0 0
aux 1 1 1 1300 1700 0 0
aux 2 13 3 1700 2100 0 0
aux 3 35 3 1700 2100 0 0
These are my personal rates:
rateprofile 0
# rateprofile 0
set rates_type = ACTUAL
set roll_rc_rate = 19
set pitch_rc_rate = 19
set yaw_rc_rate = 19
set roll_expo = 54
set pitch_expo = 54
set yaw_expo = 54
set roll_srate = 92
set pitch_srate = 92
set yaw_srate = 92