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Zaenbfi26 tech patch 1 #26

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Zaenbfi26 tech patch 1 #26

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0cab564
Update configuration settings for flight controller
zaenbfi26-tech Apr 15, 2026
502a61b
Toggle PID parameters for different configurations
zaenbfi26-tech Apr 15, 2026
98f3122
Comment out DEBUG macro in config.h
zaenbfi26-tech Apr 15, 2026
01f7838
Create main.yml
zaenbfi26-tech Apr 15, 2026
b37c749
Final h67
zaenbfi26-tech Apr 16, 2026
9f1201d
Final h67
zaenbfi26-tech Apr 16, 2026
4cfa01d
Final h67
zaenbfi26-tech Apr 16, 2026
8477db5
H67
zaenbfi26-tech Apr 17, 2026
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1 change: 1 addition & 0 deletions .github/workflows/main.yml
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Original file line number Diff line number Diff line change
@@ -0,0 +1 @@

42 changes: 21 additions & 21 deletions Silverware/src/config.h
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Expand Up @@ -10,11 +10,11 @@
// *************uncomment BWHOOP define for bwhoop, bwhoop pro, E011C Santa Edition, and Beta FPV Lite Flight Controllers
// *************uncomment E011 define for E011 flight Controller
// *************uncomment H8mini_blue_board for the H8 mini flight controller with blue circuit board
//#define BWHOOP
#define BWHOOP
//#define E011
//#define H8mini_blue_board
//#define Silverlite_Brushless
#define Alienwhoop_ZERO
//#define Alienwhoop_ZERO



Expand Down Expand Up @@ -75,25 +75,25 @@

// *************Radio protocol selection
// *************select only one
#define RX_SBUS
//#define RX_SBUS
//#define RX_CRSF //Requires tbs firmware v2.88 or newer for failsafe to operate properly
//#define RX_DSMX_2048
//#define RX_DSM2_1024
//#define RX_IBUS
//#define RX_NRF24_BAYANG_TELEMETRY
//#define RX_BAYANG_BLE_APP
//#define RX_BAYANG_PROTOCOL_TELEMETRY_AUTOBIND
#define RX_BAYANG_PROTOCOL_TELEMETRY_AUTOBIND

// *************Transmitter Type Selection
//#define USE_STOCK_TX
#define USE_STOCK_TX
//#define USE_DEVO
#define USE_MULTI
//#define USE_MULTI

// *******************************SWITCH SELECTION*****************************
// *************CHAN_ON - on always ( all protocols)
// *************CHAN_OFF - off always ( all protocols)
// *************Aux channels are selectable as CHAN_5 through CHAN_12 for DEVO and through CHAN_13 (but no CHAN_11) for MULTIMODULE users
// *************Toy transmitter mapping is CHAN_5 (rates button), CHAN_6 (stick gestures RRD/LLD),
//*************Toy transmitter mapping is CHAN_5 (rates button), CHAN_6 (stick gestures RRD/LLD),
//**************CHAN_7 (headfree button), CHAN_8 (roll trim buttons), CHAN_9 (pitch trim buttons)

//*************Arm switch and Idle Up switch (idle up will behave like betaflight airmode)
Expand All @@ -106,11 +106,11 @@
#define ARMING CHAN_5
#define IDLE_UP CHAN_5
#define LEVELMODE CHAN_6
#define RACEMODE CHAN_7
#define HORIZON CHAN_8
#define PIDPROFILE CHAN_9 //For switching stickAccelerator & stickTransition profiles on pid.c page
#define RACEMODE CHAN_OFF
#define HORIZON CHAN_OFF
#define PIDPROFILE CHAN_OFF //For switching stickAccelerator & stickTransition profiles on pid.c page
#define RATES CHAN_ON
#define LEDS_ON CHAN_10
#define LEDS_ON CHAN_ON

// *************switch for fpv / other, requires fet
// *************comment out to disable
Expand All @@ -126,7 +126,7 @@
//#define AUX1_START_ON

// *************automatically remove center bias in toy tx ( needs throttle off for 1 second )
//#define STOCK_TX_AUTOCENTER
#define STOCK_TX_AUTOCENTER



Expand Down Expand Up @@ -204,14 +204,14 @@

//#define WEAK_FILTERING
//#define STRONG_FILTERING
//#define VERY_STRONG_FILTERING
#define VERY_STRONG_FILTERING
//#define ALIENWHOOP_ZERO_FILTERING
#define BETA_FILTERING
//#define BETA_FILTERING

#ifdef BETA_FILTERING //*** ABOVE 100 ADJUST IN INCRIMENTS OF 20, BELOW 100 ADJUST IN INCRIMENTS OF 10, nothing coded beyond 500hz
//#ifdef BETA_FILTERING //*** ABOVE 100 ADJUST IN INCRIMENTS OF 20, BELOW 100 ADJUST IN INCRIMENTS OF 10, nothing coded beyond 500hz

//Select Gyro Filter Type *** Select Only One type
#define KALMAN_GYRO
Select Gyro Filter Type *** Select Only One type
//#define KALMAN_GYRO
//#define PT1_GYRO

//Select Gyro Filter Cut Frequency
Expand All @@ -236,12 +236,12 @@
#define MOTOR_MIN_COMMAND 5.0

// *************invert yaw pid for "PROPS OUT" configuration - This feature is switchable to "PROPS IN" when active with stick gesture DOWN-UP-DOWN, Save selection with DOWN-DOWN-DOWN
#define INVERT_YAW_PID
//#define INVERT_YAW_PID

// *************pwm frequency for motor control
// *************a higher frequency makes the motors more linear
// *************in Hz
#define PWMFREQ 32000
//#define PWMFREQ 32000

// *************clip feedforward attempts to resolve issues that occur near full throttle by adding any clipped motor commands to the next loop output
//#define CLIP_FF
Expand Down Expand Up @@ -348,7 +348,7 @@


// *************DEFINE FLIGHT CONTROLLER HARDWARE HAS BEEN MODIFIED FOR BRUSHLESS CONVERSION **WARNING**DO NOT ENABLE DSHOT DMA ESC DRIVER WITH BRUSHED MOTORS ATTACHED**
//#define BRUSHLESS_CONVERSION
#define BRUSHLESS_CONVERSION

//enables use of stick accelerator and stick transition for d term lpf 1 & 2
#define ADVANCED_PID_CONTROLLER
Expand Down Expand Up @@ -382,7 +382,7 @@
//#define RXDEBUG

// debug things ( debug struct and other)
//#define DEBUG
//#define DEBUG



Expand Down
13 changes: 8 additions & 5 deletions Silverware/src/pid.c
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Original file line number Diff line number Diff line change
Expand Up @@ -66,9 +66,9 @@ float stickTransitionProfileB[3] = { 0.3 , 0.3 , 0.0}; //keep values

//6mm & 7mm Abduction Pids for whoops (Team Alienwhoop)- set filtering ALIENWHOOP_ZERO_FILTERING or default beta filters
// ROLL PITCH YAW
float pidkp[PIDNUMBER] = {21.5e-2 , 21.5e-2 , 10.5e-1 };
float pidki[PIDNUMBER] = { 14e-1 , 15e-1 , 15e-1 };
float pidkd[PIDNUMBER] = { 7.4e-1 , 7.4e-1 , 5.5e-1 };
//float pidkp[PIDNUMBER] = {21.5e-2 , 21.5e-2 , 10.5e-1 };
//float pidki[PIDNUMBER] = { 14e-1 , 15e-1 , 15e-1 };
//float pidkd[PIDNUMBER] = { 7.4e-1 , 7.4e-1 , 5.5e-1 };


//BOSS 7 with 716 motors and 46mm Props - set filtering to BETA_FILTERING and adjust pass 1 and pass 2 for KALMAN_GYRO both to 70hz, set DTERM_LPF_2ND_HZ to 120hz, disable motor filtering
Expand All @@ -85,12 +85,15 @@ float pidkd[PIDNUMBER] = { 7.4e-1 , 7.4e-1 , 5.5e-1 };
//float pidki[PIDNUMBER] = { 14e-1 , 15e-1 , 15e-1 };
//float pidkd[PIDNUMBER] = { 5.6e-1 , 6.7e-1 , 0.5e-1 };

//4in Brushless Pids - 1407 3600kv Motors, 4s - Gyro filters at 90hz, 1st order D at 70hz - PID_Vbat Comp seems ok here
//4in Brushless Pids - 2207 3600kv Motors, 2s - Gyro filters at 90hz, 1st order D at 70hz - PID_Vbat Comp seems ok here
// ROLL PITCH YAW
//float pidkp[PIDNUMBER] = {9.5e-2 , 12.5e-2 , 2.0e-1 };
//float pidki[PIDNUMBER] = { 14.0e-1 , 14.0e-1 , 14.0e-1 };
//float pidkd[PIDNUMBER] = { 2.3e-1 , 3.3e-1 , 0.5e-1 };

PID build 2S :
float pidkp[PIDNUMBER] = {11.2e-2 , 12.6e-2 , 1.8e-1 };
float pidki[PIDNUMBER] = { 14e-1 , 15e-1 , 15e-1 };
float pidkd[PIDNUMBER] = { 5.6e-1 , 6.7e-1 , 0.5e-1 };
//*************** The following tunes beyond this point are all pretty dated. I have not built/flown/tuned any of these in a long time and there have been alot of changes.
//*************** If your build best matches some of the specs below ... consider the tune a starting point and give me feedback/adjust as necessary.

Expand Down