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