EmuFlight 0.1.0 - Official beta Release

USE F3 TARGETS AT YOUR OWN RISK! A word about f3 fc's. Support for f3's is limited. Many features have been removed from f3's. F3 have no telemetry or osd menu's (osd still works for voltage and other displays). PPM and PWM has also been removed from f3.

We happy to announce new EmuFlight release with a lot of changes, bugfixes and new features.
To install new EmuFlight you need to install EmuConfigurator 1st. It is available here.
Some main new features what you can find in new release:

• i_decay (unique way of handling iTerm building during quick moves).
• EmuBoost and BoostLimit (similar to FeedForward, but retaining with a more organic feel. Also EmuBoost and Feathered PIDs have a happy relationship)
• GPS has been updated to allow for a sort of geofencing to make flying in French regions legal
• TPA is split into kP, kI and kD
• TPA can be a boosting factor now. Especially useful in conjunction with the iTerm
• a lot of bug fixes

For questions about the updates or what these new features do you can check out our wiki

RC5_NOSP_V2

Default values should be good. Q has changed so that max q is 160. Q is now 100 times as powerful. Q is the same for helio products. Keep biquad on dterm, don't use feedforward and don't turn off buttered pids unless you know what you are doing.

F3 FC isn't supported in this build. F3 is simply running out of ram. This will probably be fixed in future updates.

RC4_V2 except it adds NOSP dterm filtering

The target files are finally labeled EMUFLIGHT! When running this version of EmFlight you will still be using the butterflight configurator. The change is the addition of the NOSP filtering from butterflight 3.5.2 Using buttered pids is a must with this version if you aren't using buttered pids it will fly badly. I've also heard that biquad on dterm might be better than pt1 on dterm, but that is yet to be seen. This is very much experimental so be careful when using it. I would like feedback on the three latest versions of EmuFlight.

set dterm_lowpass_hz = 80
set yaw_lowpass_hz = 0
set buttered_pids = ON
feature AIRMODE
set cpu_overclock = 192MHZ
set gyro_use_32khz = ON
set gyro_filter_q = 2500
set acc_hardware = NONE
set min_throttle = 1080
set motor_pwm_protocol = MULTISHOT
set motor_pwm_rate = 32000
set pid_process_denom = 2
set gyro_sync_denom = 1
set f_pitch = 0
set f_roll = 0
set f_yaw = 0
set tpa_rate = 65
set tpa_breakpoint = 1350

This is the same as RC4 but it includes filtering changes to the helio imuf filter!

set dterm_lowpass_hz = 80
set yaw_lowpass_hz = 0
set buttered_pids = ON
feature -ANTI_GRAVITY
feature OSD
feature AIRMODE
set cpu_overclock = 192MHZ
set gyro_use_32khz = ON
set gyro_filter_q = 2500
set acc_hardware = NONE
set min_throttle = 1080
set motor_pwm_protocol = MULTISHOT
set motor_pwm_rate = 32000
set pid_process_denom = 1
set gyro_sync_denom = 2
set f_pitch = 0
set f_roll = 0
set f_yaw = 0
set tpa_rate = 65

BetaFlight Merge

New targets are added to this butterflight fork of EmuFlight. Also some new betaflight features have been added. For more information on the additions see here https://github.com/betaflight/betaflight/releases/tag/3.5.7

set dterm_lowpass_hz = 80
set yaw_lowpass_hz = 0
set buttered_pids = ON
feature -ANTI_GRAVITY
feature OSD
feature AIRMODE
set cpu_overclock = 192MHZ
set gyro_use_32khz = ON
set gyro_filter_q = 2500
set acc_hardware = NONE
set min_throttle = 1080
set motor_pwm_protocol = MULTISHOT
set motor_pwm_rate = 32000
set pid_process_denom = 2
set gyro_sync_denom = 1
set f_pitch = 0
set f_roll = 0
set f_yaw = 0
set tpa_rate = 65
set tpa_breakpoint = 1350

StrixF10 buzzer fix

This is RC2 with a buzzer fix for the StrixF10.

EmuFlight RC2 (max w increased to 512 from 64)

Max w value has been increased to 512

One of the first test versions of the IMUF to be added to regular flight controllers. Don't worry the Helio flight controllers are not double filtered. Test this at your own risk. It is experimental. However our testing has shown it to work very very well. But always be sure to check motor temps before attempting to absolutely rip. The defaults are conservative and we are yet to experience any hot motors with them. Good luck have fun and let us know what you think about this!

Let us know what you think or any help you might need in our discord. https://discord.gg/gdP9CwE

DOWNLOAD INSTRUCTIONS
Flash using the ButterFlight Configurator found here https://github.com/ButterFlight/butterflight-configurator/releases
type this into the cli

set dterm_lowpass_hz = 80
set yaw_lowpass_hz = 0
set buttered_pids = ON
feature -ANTI_GRAVITY
feature OSD
feature AIRMODE
set cpu_overclock = 192MHZ
set gyro_use_32khz = ON
set gyro_filter_q = 2500
set acc_hardware = NONE
set min_throttle = 1080
set motor_pwm_protocol = MULTISHOT
set motor_pwm_rate = 32000
set pid_process_denom = 2
set gyro_sync_denom = 1
set f_pitch = 0
set f_roll = 0
set f_yaw = 0
set tpa_rate = 25
set tpa_breakpoint = 1500

Multishot is not required, you can use dshot, but multishot will give a cleaner signal and use less cpu load. Something that is essential for achieving 32k.

Things to note when tuning. Q and W for the Helio filter can be found under filters in the osd. Q is the trust setting of the filter. The higher the Q the more that the gyro is trusted and filtering is less. W is how many gyro samples the filter will listen to at one time. Lowering this number lowers delay on the filter but also lowers its effectiveness.
I-Decay which replaces I-Term Relax can also be messed with in the pid tab of the OSD.
With buttered PID's enabled you cannot use feed forward. Well I mean you can use feed forward but it creates conflicts and issues with buttered PID's.
Anti-Gravity has been intentionally turned off.
If your FC doesn't support 32k then just run the fastest gyro rate and PID loop rate available. But in order to get maximum performance out of the firmware 32k is recommended. That does mean however that it is unlikely you can run 32k while using dshot. It may be possible on f7 flight controllers however if you are overclocking. f4 flight controllers also need to be slightly overclocked in order to run at 32k.

Aside from these instructions just set up the flight controller as normal. Try your old tune as well and see how you like it. Have fun and fly safe.