set gyro_lowpass_hz = 90
set gyro_lowpass2_hz = 300

set dterm_lowpass_hz = 80
set dterm_lowpass2_hz = 160

set setpoint_relax_ratio = 0

set dterm_setpoint_weight = 100

set throttle_boost = 50

set throttle_boost_cutoff = 40


set rc_interp_ch = RPYT
set rc_smoothing_type = FILTER

set iterm_relax = RP

set p_roll = 42

set i_roll = 45

set d_roll = 22

set p_pitch = 44

set i_pitch = 50

set d_pitch = 23

set p_yaw = 65

set i_yaw = 45



set tpa_rate = 15

set tpa_breakpoint = 1050

set throttle_limit_type = CLIP
set throttle_limit_percent = 95