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​New PID's for the Babyhawk Race 3 inch version.

Posted

Please note that the CLI dump only changes the PID, Rates, Filters, and the frequency loop. Turns on Dynamic Filter, Airmode, and Anti-Gravity. Adjust battery scale for warnings.

The first picture is Profile 1 for 3s, and second picture is Profile 2 for 4s. Both Profiles are in the CLI Dump. The CLI will be under the Files section of this group.

CLI Dump. Copy and paste this in your CLI and hit enter.

feature AIRMODE
feature ANTI_GRAVITY
feature DYNAMIC_FILTER
beeper GYRO_CALIBRATED
beeper RX_LOST
beeper RX_LOST_LANDING
beeper DISARMING
beeper ARMING
beeper ARMING_GPS_FIX
beeper BAT_CRIT_LOW
beeper BAT_LOW
beeper GPS_STATUS
beeper RX_SET
beeper ACC_CALIBRATION
beeper ACC_CALIBRATION_FAIL
beeper READY_BEEP
beeper MULTI_BEEPS
beeper DISARM_REPEAT
beeper ARMED
beeper SYSTEM_INIT
beeper ON_USB
beeper BLACKBOX_ERASE

set min_check = 1010
set max_check = 2000

set airmode_start_throttle = 1350
set min_throttle = 1070
set max_throttle = 2000
set min_command = 1000
set dshot_idle_value = 450

set vbat_max_cell_voltage = 44
set vbat_full_cell_voltage = 41
set vbat_min_cell_voltage = 31
set vbat_warning_cell_voltage = 33
set vbat_hysteresis = 1

set cbat_alert_percent = 10
set vbat_cutoff_percent = 100
set vbat_scale = 110
set ibata_scale = 400
set ibata_offset = 0
set ibatv_scale = 0
set ibatv_offset = 0

set gyro_lpf = OFF
set gyro_sync_denom = 2
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 90
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 0
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 0

set small_angle = 90

set gyro_sync_denom = 2
set pid_process_denom = 2

profile 0

set dterm_lowpass_type = PT1
set dterm_lowpass = 60
set dterm_notch_hz = 260
set dterm_notch_cutoff = 160
set vbat_pid_gain = OFF
set pid_at_min_throttle = ON
set anti_gravity_threshold = 350
set anti_gravity_gain = 4000
set setpoint_relax_ratio = 50
set dterm_setpoint_weight = 150
set acc_limit_yaw = 100
set acc_limit = 0
set crash_dthreshold = 50
set crash_gthreshold = 400
set crash_setpoint_threshold = 350
set crash_time = 500
set crash_delay = 0
set crash_recovery_angle = 10
set crash_recovery_rate = 100
set crash_limit_yaw = 200
set crash_recovery = OFF
set iterm_windup = 50
set iterm_limit = 150
set pidsum_limit = 500
set pidsum_limit_yaw = 400
set yaw_lowpass = 100
set p_pitch = 52
set i_pitch = 45
set d_pitch = 25
set p_roll = 50
set i_roll = 45
set d_roll = 23
set p_yaw = 65
set i_yaw = 45
set d_yaw = 20
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 25
set i_level = 25
set d_level = 75
set p_vel = 55
set i_vel = 55
set d_vel = 75
set level_limit = 55
set horizon_tilt_effect = 75
set horizon_tilt_expert_mode = OFF
rateprofile 0

set rc_rate = 100
set rc_rate_yaw = 100
set rc_expo = 20
set rc_expo_yaw = 20
set thr_mid = 50
set thr_expo = 0
set roll_srate = 70
set pitch_srate = 70
set yaw_srate = 70
set tpa_rate = 20
set tpa_breakpoint = 1650
profile 1

set dterm_lowpass_type = PT1
set dterm_lowpass = 60
set dterm_notch_hz = 260
set dterm_notch_cutoff = 160
set vbat_pid_gain = OFF
set pid_at_min_throttle = ON
set anti_gravity_threshold = 350
set anti_gravity_gain = 4000
set setpoint_relax_ratio = 40
set dterm_setpoint_weight = 160
set acc_limit_yaw = 100
set acc_limit = 0
set crash_dthreshold = 50
set crash_gthreshold = 400
set crash_setpoint_threshold = 350
set crash_time = 500
set crash_delay = 0
set crash_recovery_angle = 10
set crash_recovery_rate = 100
set crash_limit_yaw = 200
set crash_recovery = OFF
set iterm_windup = 50
set iterm_limit = 150
set pidsum_limit = 500
set pidsum_limit_yaw = 400
set yaw_lowpass = 100
set p_pitch = 41
set i_pitch = 45
set d_pitch = 18
set p_roll = 39
set i_roll = 40
set d_roll = 16
set p_yaw = 55
set i_yaw = 50
set d_yaw = 20
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 25
set i_level = 25
set d_level = 75
set p_vel = 55
set i_vel = 55
set d_vel = 75
set level_limit = 55
set horizon_tilt_effect = 75
set horizon_tilt_expert_mode = OFF
rateprofile 1

set rc_rate = 90
set rc_rate_yaw = 90
set rc_expo = 10
set rc_expo_yaw = 10
set thr_mid = 50
set thr_expo = 0
set roll_srate = 80
set pitch_srate = 80
set yaw_srate = 80
set tpa_rate = 20
set tpa_breakpoint = 1650

save

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