set rc_smoothing_type = FILTER set setpoint_relax_ratio = 0 set dterm_setpoint_weight = 120 set iterm_rotation = ON set iterm_relax = RP set iterm_relax_type = SETPOINT set iterm_relax_cutoff = 12 set throttle_boost = 2 set throttle_boost_cutoff = 15 set p_roll = 30 set i_roll = 60 set d_roll = 21 set p_pitch = 32 set i_pitch = 65 set d_pitch = 23 set p_yaw = 65 set i_yaw = 60 set d_yaw = 20 set tpa_rate = 20 set tpa_breakpoint = 1100