#Filter Settings

#Gyro Filters

##Dynamic Notch filter
set dyn_notch_range = AUTO
set dyn_notch_width_percent = 8 #Dual Dynamic Notches is as default; 8% spread from center to center.
set dyn_notch_q = 120
set dyn_notch_min_hz = 100

##Dynamic Gyro lowpass filter
set dyn_lpf_gyro_min_hz = 0
set dyn_lpf_gyro_max_hz = 450

##Static Gyro notch filter
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 0
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 0

##Static Gyro lowpass filter 1
set gyro_lowpass_hz = 0
set gyro_lowpass_type = PT1
##Static Gyro lowpass filter 2
set gyro_lowpass2_hz = 0
set gyro_lowpass2_type = PT1

#D-term filters

##Static D-term lowpass filter 1
set dterm_lowpass_type = BiQUAD
set dterm_lowpass_hz = 150
##Static D-term lowpass filter 2
set dterm_lowpass2_type = BiQUAD
set dterm_lowpass2_hz = 0

##Dynamic D-term lowpass filter
set dyn_lpf_dterm_min_hz = 80
set dyn_lpf_dterm_max_hz = 180

#PID Gains Settings
set vbat_pid_gain = OFF
set anti_gravity_gain = 5000

## Pitch PID
set p_pitch = 68
set i_pitch = 67
set d_pitch = 41
set f_pitch = 75

## Roll PID
set p_roll = 66
set i_roll = 70
set d_roll = 40
set f_roll = 70

## Yaw PID
set p_yaw = 90
set i_yaw = 110
set d_yaw = 0
set f_yaw = 0

## D-min PID
set d_min_pitch = 41
set d_min_roll = 40
set d_min_boost_gain = 35
set d_min_advance = 0

set pidsum_limit = 500 #restricted to 50% by default

#For racing use "Setpoint" and cutoff = 20
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 10

#TPA Settings (which is D-term only by default)
set tpa_rate = 50
set tpa_breakpoint = 1400
set debug_mode = gyro_scaled
save