#Filter Settings
set dyn_notch_min_hz = 120

set dyn_lpf_gyro_min_hz = 120
set dyn_lpf_gyro_max_hz = 450
set gyro_lowpass_hz = 270
set gyro_lowpass_type = PT1
set gyro_lowpass2_hz = 120
set gyro_lowpass2_type = PT1

set dyn_lpf_dterm_min_hz = 120
set dyn_lpf_dterm_max_hz = 270
set dterm_lowpass_type = BiQUAD
set dterm_lowpass_hz = 200
set dterm_lowpass2_type = BiQUAD
set dterm_lowpass2_hz = 0

set dyn_notch_width_percent = 8 #Dual Dynamic Notches is as default; 8% spread from center to center.

#PID Gains Settings
set vbat_pid_gain = OFF
set anti_gravity_gain = 5000
set p_pitch = 66
set i_pitch = 65
set d_pitch = 40
set f_pitch = 75

set p_roll = 60
set i_roll = 70
set d_roll = 37
set f_roll = 70

set p_yaw = 70
set i_yaw = 110
set d_yaw = 0
set f_yaw = 0

set d_min_pitch = 40
set d_min_roll = 37
set d_min_boost_gain = 33
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