feature AIRMODE
feature ANTI_GRAVITY
feature DYNAMIC_FILTER

# master
set gyro_hardware_lpf = NORMAL
set gyro_sync_denom = 2
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 200
set gyro_lowpass2_type = PT1
set gyro_lowpass2_hz = 500
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 gyro_overflow_detect = ALL
set yaw_spin_recovery = ON
set yaw_spin_threshold = 1950
set gyro_to_use = FIRST
set dyn_notch_range = LOW
set dyn_notch_width_percent = 0
set dyn_notch_q = 200
set dyn_notch_min_hz = 90
set dyn_lpf_gyro_min_hz = 400
set dyn_lpf_gyro_max_hz = 1000
set gyro_filter_debug_axis = ROLL

set rc_interp = AUTO
set rc_interp_ch = RPYT
set rc_interp_int = 19
set rc_smoothing_type = FILTER
set rc_smoothing_input_hz = 0
set rc_smoothing_derivative_hz = 0
set rc_smoothing_debug_axis = ROLL
set rc_smoothing_input_type = BIQUAD
set rc_smoothing_derivative_type = BIQUAD
set rc_smoothing_auto_smoothness = 10

set airmode_start_throttle_percent = 25

set min_throttle = 1070
set max_throttle = 2000
set min_command = 1000
set dshot_idle_value = 700
set dshot_burst = ON
set dshot_bidir = ON
set dshot_bitbang = AUTO
set dshot_bitbang_timer = AUTO
set use_unsynced_pwm = OFF
set motor_pwm_protocol = DSHOT300
set motor_pwm_rate = 480
set motor_pwm_inversion = OFF
set motor_poles = 14

set tlm_inverted = OFF
set tlm_halfduplex = ON

set dyn_lpf_dterm_min_hz = 140
set dyn_lpf_dterm_max_hz = 340
set dterm_lowpass_type = PT1
set dterm_lowpass_hz = 150
set dterm_lowpass2_type = PT1
set dterm_lowpass2_hz = 300
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 = 0
set acc_limit_yaw = 0
set acc_limit = 0

set iterm_rotation = OFF
set iterm_relax = RP
set iterm_relax_type = SETPOINT
set iterm_relax_cutoff = 20
set iterm_windup = 100
set iterm_limit = 400
set pidsum_limit = 500
set pidsum_limit_yaw = 400
set yaw_lowpass_hz = 0
set throttle_boost = 5
set throttle_boost_cutoff = 15

set p_pitch = 86
set i_pitch = 70
set d_pitch = 44
set f_pitch = 75
set p_roll = 70
set i_roll = 65
set d_roll = 42
set f_roll = 70
set p_yaw = 104
set i_yaw = 110
set d_yaw = 0
set f_yaw = 0

set d_min_roll = 23
set d_min_pitch = 23
set d_min_yaw = 0
set d_min_boost_gain = 27
set d_min_advance = 20
set motor_output_limit = 100

set ff_interpolate_sp = AVERAGED
set ff_spike_limit = 60
set ff_max_rate_limit = 100
set ff_boost = 15
set idle_min_rpm = 14
set idle_adjustment_speed = 50
set idle_p = 50
set idle_pid_limit = 200
set idle_max_increase = 150

set thr_mid = 50
set thr_expo = 0
set rates_type = BETAFLIGHT
set roll_rc_rate = 83
set pitch_rc_rate = 83
set yaw_rc_rate = 78
set roll_expo = 10
set pitch_expo = 10
set yaw_expo = 0
set roll_srate = 75
set pitch_srate = 75
set yaw_srate = 70
set tpa_rate = 50
set tpa_breakpoint = 1400
set tpa_mode = D
set throttle_limit_type = OFF
set throttle_limit_percent = 100
set roll_rate_limit = 1998
set pitch_rate_limit = 1998
set yaw_rate_limit = 1998