set gyro_lowpass_hz = 90

set gyro_lowpass2_hz = 300

set gyro_notch1_hz = 0

set gyro_notch2_hz = 0

feature DYNAMIC_FILTER



set dterm_lowpass_hz = 100

set dterm_lowpass_type = pt1

set dterm_notch_hz = 0


feature ANTI_GRAVITY

set anti_gravity_gain = 3000

set setpoint_relax_ratio = 0

set dterm_setpoint_weight = 100

set rc_interp_ch = RPYT

set p_pitch = 44

set i_pitch = 50

set d_pitch = 23

set p_roll = 42

set i_roll = 45

set d_roll = 22

set p_yaw = 65

set i_yaw = 45


set tpa_rate = 15

set tpa_breakpoint = 1050