Скачать или смотреть Just testing CleanFlight 1.9.0 (Dterm/Pterm) (II)

Aomway VRX with built-in DVR footage
4S Nanotech 1600 / Flyduino X-1806 2300kV / 5030 HQ nylon reinforced / Plush 12A ESCs BLheli 13.2 / Naze32 acro PIDC2 LuxFloat / CleanFlight 1.9 with Boris B hex (Dterm/Pterm filter etc)

feature RX_PPM
feature VBAT
feature MOTOR_STOP
feature FAILSAFE
feature CURRENT_METER
feature ONESHOT125
set looptime = 1200
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set input_filtering_mode = 0
set min_throttle = 1050
set max_throttle = 2000
set min_command = 1000
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set retarded_arm = 0
set disarm_kill_switch = 0
set auto_disarm_delay = 5
set gyro_lpf = 188
set yaw_control_direction = 1
set pid_at_min_throttle = 1
set yaw_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = 1
set servo_lowpass_freq = 400
set servo_lowpass_enable = 0
set failsafe_delay = 1
set failsafe_off_delay = 20
set failsafe_throttle = 1000
set rx_min_usec = 985
set rx_max_usec = 2115

set deadband = 0
set yaw_deadband = 0
set throttle_correction_value = 0
set throttle_correction_angle = 800
set default_rate_profile = 0
set gimbal_flags = 1
set acc_lpf_factor = 4
set accxy_deadband = 40
set accz_deadband = 40
set accz_lpf_cutoff = 5.000
set acc_unarmedcal = 1
set acc_trim_pitch = 0
set acc_trim_roll = 0
set pid_controller = 2
set p_pitchf = 2.300
set i_pitchf = 0.380
set d_pitchf = 0.055
set p_rollf = 2.000
set i_rollf = 0.330
set d_rollf = 0.050
set p_yawf = 6.500
set i_yawf = 0.350
set d_yawf = 0.010
set level_horizon = 3.000
set level_angle = 5.000
set sensitivity_horizon = 100
set p_alt = 0
set i_alt = 0
set d_alt = 0
set p_level = 90
set i_level = 10
set d_level = 100
set p_vel = 0
set i_vel = 0
set d_vel = 0
set yaw_p_limit = 500
set dterm_cut_hz = 14
set pterm_cut_hz = 50
set gyro_cut_hz = 90
set acc_cut_hz = 40

rateprofile
rateprofile 0

set rc_rate = 100
set rc_expo = 65
set rc_yaw_expo = 0
set thr_mid = 20
set thr_expo = 0
set roll_rate = 80
set pitch_rate = 80
set yaw_rate = 50
set tpa_rate = 70
set tpa_breakpoint = 1400