emuflight/emuflight

EmuFlight is flight controller software (firmware) used to fly multi-rotor craft.

EmuFlight is flight controller software (firmware) used to fly multi-rotor aircraft.

• This fork differs from Baseflight, Cleanflight and Betaflight in that it focuses on flight performance, innovative filtering, and leading-edge features.

WARNING

• DJI components bypass Configurator safety-checks. Do not attempt arming while connected to Configurator with LiPo plugged. Always remove propellers and use a smoke-stopper for extra safety.

EmuFlight Releases

• 
• https://github.com/emuflight/EmuConfigurator/releases
• https://github.com/emuflight/EmuFlight/releases

Support and Developers Channel

• 
• To get support as well as the latest updates, join our discord at https://discord.gg/BWqgBg3.

Features

• Support for targets that use the STM32 F7 and F4 processors
• Support for HelioRC Spring FC's
• IMUF (Kalman-based) Filtering for all FC's
• Additional DShot levels: 1200, 2400, 4800
• OSD based configuration without needing third-party OSD software/firmware/comm devices
• Per-Axis Lowpass filters
• Feathered PIDs
• Error-based Boosts for P, I, & D. (EmuBoost/DBoost)
• i-Decay
• Throttle Point Attenuation (TPA) for P, I, & D
• Stick Point Attenuation (SPA)
• Advanced Dynamic Gyro & D-Term Filters
• Smith-Predictor on Gyro
• Optional ABG Filters for Gyro and DTerm
• PT(n) for LPF and RC-Smoothing
• Rate-Dynamics (Stick-feel modifier)
• Angle-mode 2.0
• Dual Axis Steering
• NFE racer mode
• Fixed yaw PIDsum limit
• LPF filter for voltage and current
• Motor output limit
• Motor output smoothing
• Thrust linearization
• Axis Lock
• and MUCH, MUCH more

Installation & Documentation

• See: https://github.com/emuflight/EmuFlight/wiki

Configuration Tool

• To configure EmuFlight you should use the EmuFlight-Configurator GUI tool (Windows/OSX/Linux) which can be found here:
• https://github.com/emuflight/EmuConfigurator

DJI OSD [In]Compatibility

• Setting PIDs and Rates (except for Feed Forward) is supported with the DJI OSD. The filtering menus (MISC PP, FILT PP, FILT GLB) are not currently supported and may result in unintended problems.

Contributing

• Contributions are welcome and encouraged. You can contribute in many ways:

  • Documentation updates and corrections.
  • How-To guides - received help? Help others!
  • Bug reporting & fixes.
  • New feature ideas & suggestions.
  • Coding and Pull Requests.

• The best place to start is the EmuFlight Discord (https://discord.gg/BWqgBg3). Next place is the github issue tracker:

  • https://github.com/emuflight/EmuFlight/issues
  • https://github.com/emuflight/EmuConfigurator/issues

• Before creating new issues please check to see if there is an existing one.

• If you want to contribute financially on an ongoing basis, please consider becoming a Patreon member (https://www.patreon.com/EmuFlight).

Developers

Contribution of bugfixes and new features is encouraged. Please be aware that we have a thorough review process for pull requests. Be prepared to explain what you want to achieve with your pull request. Before starting to write code, please read our development guidelines and coding style definition.

Open Source / Contributors

EmuFlight is software that is open source and is available free of charge without warranty to all users.

EmuFlight is forked from Betaflight, so thanks goes to all those whom have contributed to Cleanflight, Betaflight, Butterflight and their origins.

Origins for this fork (Thanks!):

• Alexinparis (for MultiWii),
• timecop (for Baseflight),
• Dominic Clifton (for Cleanflight),
• borisbstyle (for Betaflight),
• Sambas (for the original STM32F4 port), and
• Marinus (for forking IMUF thus beginning EmuFlight).

The EmuFlight Configurator is forked from Betaflight Configurator and its origins.

Origins for EmuFlight Configurator:

• Dominic Clifton (for Cleanflight configurator), and
• ctn (for the original Configurator).

Big thanks to current and past contributors:

• Budden, Martin (martinbudden)
• Bardwell, Joshua (joshuabardwell)
• Blackman, Jason (blckmn)
• ctzsnooze
• Höglund, Anders (andershoglund)
• Ledvina, Petr (ledvinap) - IO code awesomeness!
• kc10kevin
• Keeble, Gary (MadmanK)
• Keller, Michael (mikeller) - Configurator brilliance
• Kravcov, Albert (skaman82) - Configurator brilliance
• MJ666
• Nathan (nathantsoi)
• ravnav
• sambas - bringing us the F4
• savaga
• Stålheim, Anton (KiteAnton)
• Tim Sweet, Kaylin Doerr, Shawn Loftin - Filtering improvements, IMUF

And many many others either mentioned in release notes, GitHub history, or possibly haven't been mentioned.... Thank you!

emuflight's Issues

Where is best to give feedback?

Hi devs,

Where is an appropriate place to give feedback on these builds?

Wanted to say great work on the firmware, it's flying very well on my new testing build with a china special OBF4SD. There's a couple of things I wanted to discuss regarding flight behaviours, but on the whole it's very smooth.

Cheers

no gyro detect on 0.2.0 RC1 - CALIB error in OSD

I saw other user have issue with other boards.
issue #38 and issue #39

I tried
set gyro_to_use = SECOND
but ###ERROR### Invalid name

please note that if I enable accelerometer I can see my drone move in configurator!

Describe the bug
I have emu 0.1.0 on my mobula6 and I can fly no problem.
I flash 0.2.0 and have CALIB error in OSD.
I can not arm. I set moron settings to 200. (gyro_calib_noise_limit = 200)

I did try 0.2.9

To Reproduce
here is pastebin of my settings. (pastebin is down) so
https://justpaste.it/648iq

Setup / Versions
mobula6 (crazybee f4 lite) with frsky receiver running D8 since can't fly with D16.
0603 motors

RC5: Filter Q & W adjustments via OSD do not align with limits in CLI

Managed to find this whilst troubleshooting a non-flier;
OSD settings still allow the Q to go too high but limit the W to 64.

# get filter
gyro_filter_q = 300  <---How has this saved!
Allowed range: 0 - 160
Default value: 30

gyro_filter_w = 64  <---Max OSD value
Allowed range: 3 - 512
Default value: 32

Telemetry Display

Describe the bug
This is only a minor bug. The VBAT is shown as "RxBt" in the Telemetry Data.

To Reproduce
Activate Telemetry in the Config Tab of the emuflight Configurator (0.2.0). On the Transmitter (FrSky X-Lite mit Crossfire Stealth Mod). Search for Telemetry Data ("Discover New Sensors"). VBAT is shown under 10:RxBT (and it takes very long to show the correct Voltag)

Expected behavior
Display as VBAT. It is quite scary to show 24V RxBT when the RX is a XF nano (operating Voltage 5V).

Flight controller configuration
EMUF_cli_N4V11_XXt_20191028_200751.txt

Setup / Versions
The setup is an ultralight build (210g, 6S, CrissCross 5" Frame, AIKON AK32 Flytower MINI STM32F405 Flight Controller & 35A Blheli_32 ESC Combo, Hyperlite HV Motors, TBS Crossfire Nano, TBS Unify Nano). Emuflight 0.1.0 Sep 16 2019.
Transmitter is a modified FrSky X-Lite with a TBS Crossfire Micro Module

Additional context
Also, the amperage is off quite a bit. But that may be just a matter of calibration.

Request for target: T-MOTOR F7 HD

According to official website, Betaflight target is "TMOTORF7"

Request for aikon F7 support

Would love to see a aikon F7 fc support for this!

I use kiss and have tried Emu on a old f4 board. I have some F7 I was given to test but never managed to get betaflight to fly like I wanted to and did try emu on that F4 board and was impressed!

great for cinematic flying!

Dave @ hypercine.com

Why?

why not PR to betaflight? Isn't collaboration better than forking?
I'm all for improving the simplicity of the configurator, but I couldn't see any specifics on the home page -- what are they?

battery voltage shown as '0.0V' when using HV packs

Describe the bug
OSD shows voltage of 0.0V when connecting fully charged packs.

To Reproduce
connect a HV pack and watch the OSD.

Expected behavior
battery voltage should be shown correct.

Flight controller configuration
workaround is to adjust "max cell voltage" to 4.5V which leads to another issue: the battery meter won't show the correct relations.

Setup / Versions
2x MATEKF411RX, FURY4OSD

Configurator dmg won't mount on some macs

My Mac was originally on El capitain, I upgraded it to Mohave and the problem still persists. If you use the legacy file system it works fine, even though it is twice the size.

Can you add a legacy_osx_emuflightconfigurator_v0_xx.dmg file for your releases

RX loss on MATEKF411RX (MTKS)

Describe the bug
Permanently loosing RX connection. Switching between connection and loss about 2 times a second.

To Reproduce
Flash Emuflight 0.1 on a Beta65S and bind D16.

Expected behavior
No RX loss

Flight controller configuration
EMUF_cli_N4V8_Ta_20191114_203127.txt

Setup / Versions

• MATEKF411RX
• FrSky X-Lite (default, with FrSky XJT D16)
• This is a BetaFPV Beta65s out of the box

Additional context
Tried D8 without success.
Tried set frsky_spi_tx_id = 35,28
set frsky_spi_offset = -26
set frsky_spi_bind_hop_data = 5,143,48,188,93,233,138,43,183,88,228,135,38,178,83,223,128,33,173,78,218,123,28,168,73,213,118,23,163,68,208,113,18,158,63,203,108,13,153,58,198,103,8,148,53,193,98,0,0,0
set frsky_x_rx_num = 2
Reflashing with BF showed same symptoms until rebound, then is was fine again

Request for iFlight Succex A IFF4 AIO - IFRC target

Hi, really enjoying if you can add this target in Emuflight :-)
It's for a Cinewhoop 3" with 1507 motors.

Thanks you :-)

Original Betaflight CLI

# diff all
###WARNING: NO CUSTOM DEFAULTS FOUND###

# version
# Betaflight / STM32F405 (S405) 4.1.2 Dec 22 2019 / 02:19:35 (89051e256) MSP API: 1.42
# manufacturer_id: IFRC   board_name: IFF4_AIO   custom defaults: NO

# start the command batch
batch start

# reset configuration to default settings
defaults nosave

board_name IFF4_AIO
manufacturer_id IFRC
mcu_id 003e003f594d500b20303046
signature 

# resources
resource BEEPER 1 B04
resource MOTOR 1 B00
resource MOTOR 2 B01
resource MOTOR 3 C09
resource MOTOR 4 C08
resource PPM 1 A03
resource LED_STRIP 1 B06
resource SERIAL_TX 1 A09
resource SERIAL_TX 2 A02
resource SERIAL_TX 3 B10
resource SERIAL_TX 4 A00
resource SERIAL_TX 6 C06
resource SERIAL_RX 1 A10
resource SERIAL_RX 2 A03
resource SERIAL_RX 3 B11
resource SERIAL_RX 4 A01
resource SERIAL_RX 6 C07
resource INVERTER 2 C13
resource LED 1 B05
resource SPI_SCK 1 A05
resource SPI_SCK 2 B13
resource SPI_SCK 3 C10
resource SPI_MISO 1 A06
resource SPI_MISO 2 B14
resource SPI_MISO 3 C11
resource SPI_MOSI 1 A07
resource SPI_MOSI 2 B15
resource SPI_MOSI 3 C12
resource CAMERA_CONTROL 1 A00
resource ADC_BATT 1 C02
resource ADC_CURR 1 C01
resource PINIO 1 C15
resource PINIO 2 C14
resource FLASH_CS 1 A15
resource OSD_CS 1 B12
resource GYRO_EXTI 1 C04
resource GYRO_CS 1 A04
resource USB_DETECT 1 C05

# timer
timer A03 AF1
# pin A03: TIM2 CH4 (AF1)
timer B00 AF2
# pin B00: TIM3 CH3 (AF2)
timer B01 AF2
# pin B01: TIM3 CH4 (AF2)
timer C09 AF3
# pin C09: TIM8 CH4 (AF3)
timer C08 AF3
# pin C08: TIM8 CH3 (AF3)
timer B06 AF2
# pin B06: TIM4 CH1 (AF2)
timer A00 AF1
# pin A00: TIM2 CH1 (AF1)

# dma
dma ADC 1 1
# ADC 1: DMA2 Stream 4 Channel 0
dma pin B00 0
# pin B00: DMA1 Stream 7 Channel 5
dma pin B01 0
# pin B01: DMA1 Stream 2 Channel 5
dma pin C09 0
# pin C09: DMA2 Stream 7 Channel 7
dma pin C08 0
# pin C08: DMA2 Stream 2 Channel 0
dma pin B06 0
# pin B06: DMA1 Stream 0 Channel 2
dma pin A00 0
# pin A00: DMA1 Stream 5 Channel 3

# feature
feature -RX_PARALLEL_PWM
feature RX_SERIAL
feature MOTOR_STOP
feature TELEMETRY
feature LED_STRIP
feature DISPLAY
feature OSD

# beacon
beacon RX_LOST
beacon RX_SET

# map
map TAER1234

# serial
serial 0 1 115200 57600 0 115200
serial 2 64 115200 57600 0 115200

# led
led 0 5,12::CTOBV:0
led 1 6,12::CTOBV:0
led 2 7,12::CTOBV:0
led 3 8,12::CTOBV:0

# aux
aux 0 0 0 1300 1700 0 0
aux 1 1 4 1300 1700 0 0
aux 2 2 4 1700 2100 0 0
aux 3 26 3 1300 2100 0 0
aux 4 35 1 1700 2100 0 0
aux 5 36 5 1700 2100 0 0

# vtxtable
vtxtable bands 6
vtxtable channels 8
vtxtable band 1 BOSCAM_A A FACTORY 5865 5845 5825 5805 5785 5765 5745 5725
vtxtable band 2 BOSCAM_B B FACTORY 5733 5752 5771 5790 5809 5828 5847 5866
vtxtable band 3 BOSCAM_E E FACTORY 5705 5685 5665 5645 5885 5905 5925 5945
vtxtable band 4 FATSHARK F FACTORY 5740 5760 5780 5800 5820 5840 5860 5880
vtxtable band 5 RACEBAND R FACTORY 5658 5695 5732 5769 5806 5843 5880 5917
vtxtable band 6 BAND_D   D FACTORY 5362 5399 5436 5473 5510 5547 5584 5621
vtxtable powerlevels 5
vtxtable powervalues 25 100 200 400 600
vtxtable powerlabels 25 100 200 400 600

# master
set gyro_lowpass2_hz = 0
set dyn_lpf_gyro_min_hz = 400
set dyn_lpf_gyro_max_hz = 1000
set acc_calibration = 79,-54,-305
set mag_hardware = NONE
set baro_hardware = NONE
set rssi_channel = 12
set serialrx_provider = CRSF
set blackbox_device = SPIFLASH
set dshot_burst = ON
set dshot_bidir = ON
set motor_pwm_protocol = DSHOT600
set current_meter = ADC
set battery_meter = ADC
set ibata_scale = 100
set beeper_inversion = ON
set beeper_od = OFF
set small_angle = 180
set pid_process_denom = 1
set osd_warn_rssi = ON
set osd_warn_link_quality = ON
set osd_cap_alarm = 1550
set osd_vbat_pos = 2072
set osd_rssi_pos = 2067
set osd_link_quality_pos = 2066
set osd_flymode_pos = 2061
set osd_vtx_channel_pos = 364
set osd_crosshairs_pos = 2253
set osd_current_pos = 2053
set osd_mah_drawn_pos = 2056
set osd_craft_name_pos = 2548
set osd_gps_speed_pos = 14689
set osd_gps_lon_pos = 2537
set osd_gps_lat_pos = 2533
set osd_gps_sats_pos = 2048
set osd_home_dir_pos = 2058
set osd_home_dist_pos = 2433
set osd_altitude_pos = 2465
set osd_power_pos = 2050
set osd_warnings_pos = 2313
set osd_avg_cell_voltage_pos = 2069
set osd_battery_usage_pos = 17
set osd_disarmed_pos = 2091
set osd_nvario_pos = 449
set osd_esc_tmp_pos = 2337
set osd_esc_rpm_pos = 248
set osd_flip_arrow_pos = 2286
set osd_stat_rtc_date_time = ON
set osd_stat_max_alt = ON
set osd_stat_max_esc_rpm = ON
set osd_stat_min_rssi_dbm = ON
set system_hse_mhz = 8
set debug_mode = GYRO_FILTERED
set scheduler_optimize_rate = ON
set dashboard_i2c_bus = 1
set pinio_box = 40,41,255,255
set flash_spi_bus = 3
set gyro_1_bustype = SPI
set gyro_1_spibus = 1

profile 0

# profile 0
set dyn_lpf_dterm_min_hz = 98
set dyn_lpf_dterm_max_hz = 238
set dterm_lowpass2_hz = 210
set p_pitch = 45
set d_pitch = 53
set f_pitch = 133
set p_roll = 41
set d_roll = 49
set f_roll = 126
set p_yaw = 42
set f_yaw = 102
set d_min_roll = 28
set d_min_pitch = 31

profile 1

# profile 1
set i_pitch = 77
set i_roll = 66
set i_yaw = 73

profile 2

# restore original profile selection
profile 0

rateprofile 0

# rateprofile 0
set yaw_rc_rate = 170
set roll_srate = 65
set pitch_srate = 65
set yaw_srate = 65
set tpa_breakpoint = 1700

rateprofile 1

rateprofile 2

rateprofile 3

rateprofile 4

rateprofile 5

# restore original rateprofile selection
rateprofile 0

# save configuration
save
# 

Request for target: SpeedyBee F7

requested by @deathroll

No Gyro detected on KAKUTEF7 HDV : EmuFlight / KAKUTEF7 (KTF7) 0.1.0

Describe the bug
After Flashing the KAKUTEF7 HDV with KAKUTEF7 firmware there is no gyro detected.

To Reproduce
Flash the FC with the target. Start the configurator and you will see that the gyro is not shown.

Expected behavior
Gyro should be detected with the default settings and virtual qwad must move

Flight controller configuration

# 
# diff
# version
# EmuFlight / KAKUTEF7 (KTF7) 0.1.0 Sep 16 2019 / 22:37:10 (3956d2f50) MSP API: 1.40
board_name 
manufacturer_id 
# name
# resources
# mixer
# servo
# servo mix
# feature
# beeper
# beacon
# map
# serial
serial 0 1 115200 57600 0 115200
serial 2 32 115200 57600 0 115200
serial 3 64 115200 57600 0 115200
serial 5 0 115200 57600 0 115200
serial 6 1024 115200 57600 0 115200
# led
# color
# mode_color
# aux
# adjrange
# rxrange
# vtx
# rxfail
# master
set motor_pwm_protocol = DSHOT1200
set pid_process_denom = 1
# profile
profile 0
# rateprofile
rateprofile 0

Setup / Versions

• Flight controller Kakute F7 HDV - Holybro + ESC 4en1 Tekko32 F3 HDV 40A - Holybro (STUDIOSPORT)
• RX R9 MM welde on the board
• VTX : DJI air unit HD FPV system
• 5" Frame Iflight DC5 HD/ Xnova motor hardline (total build 450g)

Additional context
On betaflight 4.0.6 i have the same issue with firmware KAKUTEF7(HBRO), no gyro.
It work fine with KAKUTEF7 HDV(legacy) firmware, gyro is ok with this firmware,i'm flying with this actually.
For information i have 2 other Kakute F7 board, KAKUTE F7 & KAKUTE F7 AIO, and i haven't problem with gyro, not flying yet but gyro is ok.

OSD Hangups during PID tuning

Hello,
first, great work guys. An ultralight build, which had troubles to find the perfect tune, already flew like a rocket with emuflight default settings. And now even better after some fine tuning.

Describe the bug
And here is the issue: during tuning via OSD I experienced hang ups. Just switching to the PID profile settings, the OSD just froze. It required a reboot (reconnecting battery) to work again. No hangups during flight though. Unfortunately, editing settings via LUA Script does not work (BF Lua). This would be a nice alternative to OSD tuning.

Flight controller configuration
Attached, you will find the diff.
diff_n4v1_ultralight.txt

Setup / Versions
The setup is an ultralight build (210g, 6S, CrissCross 5" Frame, AIKON AK32 Flytower MINI STM32F405 Flight Controller & 35A Blheli_32 ESC Combo, Hyperlite HV Motors, TBS Crossfire Nano, TBS Unify Nano). Emuflight 0.1.0 Sep 16 2019.

Regards
N4V1

To Reproduce
Startup Configuration via OSD. Go into the PID profile Menu, edit settings, save, fly. Do this about 3 times w/o disconnecting battery and the Configuration OSD may freeze.

Expected behavior
no freezes

Request for target: TMotor F4 HD for DJI System

Guys no I'm gonna have to go back to betaflight aaahhh. Ok jokes aside the tmotor is very new so totally cool with it

flyaway on the default PIDs when running micros (2.5")

Describe the bug
quad skyrockets.

To Reproduce
build a micro, keep the default PIDs, arm, dip throttle.

Expected behavior
default PIDs should not be dangerous.
"workaround" is to set all PID to half of the defaults values and tune from there.
I seems to be the most critical one.

Setup / Versions
FURY4OSD

bug: 0.2.6 through 0.2.17 fails stable mode

Describe the bug
0.2.5 stable-mode works properly
0.2.6 though 0.2.17 stable-mode does not work, possibly pid loop not active.

To Reproduce
Prearm.
Arm stable-mode.

Expected behavior
throttle should work.

Actual Behavior
motors idle speed only

Tested on Helio and FoxeerF405

# 

# diff all

# version
# EmuFlight / FOXEERF405 (FXF4) 0.2.12 Jan  2 2020 / 07:57:53 (80059b2ea) MSP API: 1.44

board_name 
manufacturer_id 
mcu_id 0042004f4e48500920303452
signature 

# reset configuration to default settings
defaults nosave

# name
name XL7

# resources

# mixer

# servo

# servo mix


# feature
feature -DYNAMIC_FILTER
feature SOFTSERIAL
feature TELEMETRY
feature OSD
feature ANTI_GRAVITY

# beeper
beeper -GYRO_CALIBRATED
beeper -ARMING_GPS_FIX
beeper -GPS_STATUS
beeper -ACC_CALIBRATION
beeper -ACC_CALIBRATION_FAIL
beeper -READY_BEEP
beeper -DISARM_REPEAT
beeper -ON_USB
beeper -CAM_CONNECTION_OPEN
beeper -CAM_CONNECTION_CLOSED

# beacon
beacon RX_LOST
beacon RX_SET

# map

# serial
serial 0 64 115200 57600 0 115200
serial 2 16384 115200 57600 0 115200
serial 3 32 115200 57600 0 115200
serial 4 2048 115200 57600 0 115200

# led

# color

# mode_color

# aux
aux 0 0 1 1400 2100 0 0
aux 1 1 1 1875 2100 0 0
aux 2 13 2 1850 2100 0 0
aux 3 26 0 1850 2100 0 0
aux 4 35 3 1875 2100 0 0
aux 5 36 3 1425 2100 0 0

# adjrange

# rxrange

# vtx

# rxfail

# master
set gyro_lowpass_type = BIQUAD
set gyro_lowpass_hz = 80
set imuf_w = 64
set rssi_channel = 16
set rc_interp = MANUAL
set rc_interp_int = 21
set rc_smoothing_type = FILTER
set rc_smoothing_input_hz = 45
set rc_smoothing_derivative_hz = 100
set rc_smoothing_input_type = PT1
set rc_smoothing_derivative_type = PT1
set serialrx_inverted = ON
set dshot_idle_value = 600
set motor_pwm_protocol = DSHOT1200
set bat_capacity = 1100
set vbat_lpf_period = 30
set ibat_lpf_period = 10
set yaw_motors_reversed = ON
set small_angle = 180
set deadband = 4
set yaw_deadband = 4
set pid_process_denom = 2
set osd_rssi_alarm = 45
set osd_tim1 = 2562
set osd_vbat_pos = 2433
set osd_rssi_pos = 2403
set osd_tim_1_pos = 2455
set osd_tim_2_pos = 406
set osd_remaining_time_estimate_pos = 386
set osd_flymode_pos = 2425
set osd_throttle_pos = 397
set osd_vtx_channel_pos = 56
set osd_current_pos = 341
set osd_mah_drawn_pos = 386
set osd_compass_bar_pos = 74
set osd_pid_roll_pos = 301
set osd_pid_pitch_pos = 333
set osd_pid_yaw_pos = 365
set osd_power_pos = 88
set osd_pidrate_profile_pos = 2049
set osd_warnings_pos = 2249
set osd_avg_cell_voltage_pos = 353
set osd_battery_usage_pos = 384
set osd_stat_tim_1 = ON
set osd_stat_endbatt = ON
set debug_mode = GYRO_SCALED
set vtx_band = 1
set vtx_channel = 8
set vtx_freq = 5725
set vcd_video_system = NTSC
set camera_control_internal_resistance = 490

# profile
profile 0

set dterm_lowpass_type = BIQUAD
set dterm_lowpass_hz = 80
set smart_dterm_smoothing = 1
set anti_gravity_gain = 1100
set feedforward_transition = 100
set iterm_rotation = OFF
set iterm_relax = RP
set iterm_relax_cutoff = 10
set i_decay = 6
set p_pitch = 67
set i_pitch = 63
set d_pitch = 44
set f_pitch = 35
set p_roll = 55
set i_roll = 63
set d_roll = 32
set f_roll = 35
set p_yaw = 90
set i_yaw = 63
set d_yaw = 2
set f_yaw = 35
set abs_control_gain = 15

# profile
profile 1


# profile
profile 2


# restore original profile selection
profile 0

# rateprofile
rateprofile 0

set thr_mid = 5
set thr_expo = 30
set roll_rc_rate = 90
set pitch_rc_rate = 90
set yaw_rc_rate = 90
set roll_expo = 30
set pitch_expo = 30
set yaw_expo = 30
set roll_srate = 77
set pitch_srate = 77
set yaw_srate = 77
set tpa_rate_i = 110
set tpa_breakpoint = 1100

# rateprofile
rateprofile 1


# rateprofile
rateprofile 2


# rateprofile
rateprofile 3


# rateprofile
rateprofile 4


# rateprofile
rateprofile 5


# restore original rateprofile selection
rateprofile 0

# save configuration
save
# 

Kakute f7 probleme uart 6

Je vous expose mon souci
Emu 2.12
Kakute f7 release f7hdv du 13.12.2019 tous fonctionnais jusque la .
Mais depuis quelque jours impossible de changer de fréquence via l'osd .j ai reflasher et réinstallé et tjs pareil.par curiosité je flash sous betaflight et la aucun souci ça marche
Un avis les gars?

Cli hanging and Revolt problem

Hello there! On the Revolt V1, fc is not communicating with esc's. I've tried all protocols. Also when selecting multishot, the min/max, idle throttle values are the wrong way around in the configurator.
The cli hangs not allowing access. Can't wait to fly this!! Happy to help in any way I can!
Peace and Love

debug_mode = GYRO_SCALED

Describe the bug
This is just a minor bug. When "debug_mode = GYRO_SCALED" is activated, it is shown as "Debug (AIRMODE)" in the BlackBox Explorer. It probably is the correct graph/fields. But the labeling is irritating.

To Reproduce
Set "debug_mode = GYRO_SCALED" in the CLI and save. Collect some data and download the BlackBox data. Open ist with the BlackBox Explorer. Add a new Graph "Debug". You will see the field "Debug (AIRMODE)".

Expected behavior
It should show "Debug (GYRO_SCALED)" or something more appropriate.

Flight controller configuration
https://github.com/emuflight/Pegasus/files/3775115/diff_n4v1_ultralight.txt

Setup / Versions
The setup is an ultralight build (210g, 6S, CrissCross 5" Frame, AIKON AK32 Flytower MINI STM32F405 Flight Controller & 35A Blheli_32 ESC Combo, Hyperlite HV Motors, TBS Crossfire Nano, TBS Unify Nano). Emuflight 0.1.0 Sep 16 2019.

Additional context
BlackBox Explorer v3.4.0

Dual RX input

The ability to have 2 serial RXs connected simutaniously, with 2 rssi channels (can be shown on osd), and a mode to swap between which rx is the one thats actively used to control the quad.

for example:

Crossfire1 wired up to uart 1
Crossfire2 wired up to uart 2

Rssi channel = aux 8

Rssi1 on osd
Rssi2 on osd

• next to which is active, or have the inactive one flash

Mode RX_2 switches to Crossfire2 when active

Request for target: Aikon F7

wrong calculation

the constant is simply wrong.
have a look at the imu-f website or ask andrey

Burned motor for no obvious reason?

I am not 100% sure, if that's the right place to post, but there is a causal connection between emuflight and the issue.

Describe the bug
One of the motors burned out for no obvious reason.

I switched back to the original setup with the Aikon F4 (I used the omnibus F4 nano v6 for some testing). So, it was some kind of maiden with some standard PIDs that worked before I switched to the Omnibus F4. Hovering for 30s with that config, motos stayed cool. Then I had a short 3 Minute slow cruise before a motor burned.

Quad is fine, Props are fine, BlackBox does not show anything that would indicate an issue. I normally do not burn motors, unless I crash bad during training or race. This was only a maiden cruise, so, I am a little worried to kill another motor with this setup. Maybe you see a reason?

To Reproduce
Use the same setup with the same config. Make some sharp turns (180°) at medium speed.

Expected behavior
No burned motor

Flight controller configuration
EMUF_cli_N4V10_XXt_20191109_120928.txt

Setup / Versions
The setup is an ultralight build (210g, 6S, CrissCross 5" Frame, AIKON AK32 Flytower MINI STM32F405 Flight Controller & 35A Blheli_32 ESC Combo, Hyperlite HV Motors, TBS Crossfire Nano, TBS Unify Nano). Emuflight 0.1.0 Sep 16 2019.

*Additional Information
Attached is also do blackbox data.
bttr_all_20191109_120928.zip

You can see some pacman, but the PIDs were not tuned at this point. P is lower than default. You can seein the BB that the battery was not leveled perfectly, it's a little too far in the back. For the pacman, I currently have this behavior with this quad at sharp turns and was about to start fine tuning.

At about 31s there was a sharp turn to the left. Suddenly the quad drifted away and crashed. In the BB you can see one motor (#3) was at full throttle for one second before disarming. That's the motor which burned out. ESC is fine.

Possible bugs emu 0.2.0

1. When checked battery voltage in OSD tab, not showing in OSD (omnibusf4v6)
2. When PID loop / Gyro refresh rate is set to 8/8, on dshot1200 wont arm. Processor usage ~8%. Dshot600 is arming with no problem (omnibus f4v6)

Otherwise, great job so far!

No telemetry with fport

Hello,

i wan't to use the fport for my setup on a HGLRC f4 stack.

fport firmware OK, bind OK, channels are responding.

but i receive no telemetry from the FC.

fport is connecter on sbus inverted (UART1)

a diff of my setup :

EmuFlight / OMNIBUSF4 (OBF4) 0.1.0 Sep 16 2019 / 22:56:24 (3956d2f) MSP API: 1.40

board_name
manufacturer_id

name

name Gecko

resources

mixer

servo

servo mix

feature

feature -RX_PARALLEL_PWM
feature -DYNAMIC_FILTER
feature RX_SERIAL
feature TELEMETRY
feature LED_STRIP
feature ANTI_GRAVITY

beeper

beeper -GYRO_CALIBRATED
beeper -RX_LOST
beeper -RX_LOST_LANDING
beeper -DISARMING
beeper -ARMING
beeper -ARMING_GPS_FIX
beeper -BAT_CRIT_LOW
beeper -BAT_LOW
beeper -GPS_STATUS
beeper -RX_SET
beeper -ACC_CALIBRATION
beeper -ACC_CALIBRATION_FAIL
beeper -READY_BEEP
beeper -DISARM_REPEAT
beeper -ARMED
beeper -SYSTEM_INIT
beeper -ON_USB
beeper -BLACKBOX_ERASE
beeper -CRASH FLIP
beeper -CAM_CONNECTION_OPEN
beeper -CAM_CONNECTION_CLOSED
beeper -RC_SMOOTHING_INIT_FAIL

beacon

beacon RX_LOST
beacon RX_SET

map

map TAER1234

serial

serial 0 64 115200 57600 0 115200
serial 2 8192 115200 57600 0 115200

led

led 0 0,0::L:2
led 1 1,0::C:2
led 2 2,0::C:2
led 3 3,0::S:0

color

mode_color

aux

aux 0 0 7 1800 2100 0 0
aux 1 1 1 900 1300 0 0
aux 2 13 6 1700 2100 0 0
aux 3 36 4 1700 2100 0 0

adjrange

rxrange

vtx

rxfail

master

set gyro_lowpass2_hz = 300
set gyro_notch1_cutoff = 300
set gyro_notch2_cutoff = 100
set acc_lpf_hz = 10
set acc_calibration = -127,-3,231
set mag_hardware = NONE
set baro_hardware = NONE
set rssi_scale = 41
set rc_interp_ch = RP
set rc_smoothing_input_type = PT1
set rc_smoothing_derivative_type = OFF
set serialrx_provider = FPORT
set serialrx_inverted = ON
set motor_pwm_protocol = DSHOT600
set vbat_scale = 112
set ibata_scale = 1000
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set gps_distance_limit = 1000
set deadband = 5
set runaway_takeoff_prevention = ON
set ibus_sensor = 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
set osd_warn_arming_disable = OFF
set osd_warn_batt_not_full = OFF
set osd_warn_batt_warning = ON
set osd_warn_batt_critical = ON
set osd_warn_visual_beeper = OFF
set osd_warn_crash_flip = ON
set osd_warn_esc_fail = OFF
set osd_warn_core_temp = OFF
set osd_cap_alarm = 700
set osd_distance_alarm = 2562
set osd_esc_temp_alarm = -1
set osd_esc_rpm_alarm = 70
set osd_ah_max_pit = 0
set osd_ah_max_rol = 0
set osd_tim1 = 127
set osd_tim2 = 10260
set osd_vbat_pos = 2465
set osd_rssi_pos = 2497
set osd_tim_1_pos = 2282
set osd_flymode_pos = 2444
set osd_ah_pos = 234
set osd_current_pos = 2272
set osd_mah_drawn_pos = 2305
set osd_craft_name_pos = 42
set osd_disarmed_pos = 2282
set osd_stat_tim_2 = OFF
set osd_stat_max_spd = OFF
set osd_stat_min_batt = OFF
set osd_stat_battery = ON
set osd_stat_min_rssi = OFF
set osd_stat_max_curr = OFF
set osd_stat_used_mah = OFF
set osd_stat_bbox = OFF
set osd_stat_bb_no = OFF
set vtx_band = 5
set vtx_power = 4
set vtx_freq = 5658
set usb_hid_cdc = ON

profile

profile 0

set throttle_boost = 0

rateprofile

rateprofile 0

set tpa_rate_p = 10
set tpa_rate_i = 0
set tpa_rate_d = 114
set tpa_breakpoint = 25600
set throttle_limit_type = MANUAL
set throttle_limit_percent = 0

thanks in advance

compile `make all` error at `FURY3`

compiling make all fails at the FURY3.
i don't need fury3, i just want a succesful make all to complete.

[...]
./src/main/fc/config.c: In function 'validateAndFixConfig':
./src/main/fc/config.c:305:53: error: 'FAILSAFE_PROCEDURE_GPS_RESCUE' undeclared (first use in this function); did you mean 'FAILSAFE_PROCEDURE_DROP_IT'?
         if (failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE) {
                                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                                                     FAILSAFE_PROCEDURE_DROP_IT
./src/main/fc/config.c:305:53: note: each undeclared identifier is reported only once for each function it appears in
%% piniobox.c 
make[2]: *** [Makefile:308: obj/main/FURYF3/fc/config.o] Error 1
make[2]: *** Waiting for unfinished jobs....
%% (size optimised) serial.c 
%% statusindicator.c 
make[2]: Leaving directory '/home/USERNAME/Downloads/EmuFlight-Butter-Varient'
make[1]: *** [Makefile:415: binary] Error 2
make[1]: Leaving directory '/home/USERNAME/Downloads/EmuFlight-Butter-Varient'
make: *** [Makefile:359: FURYF3] Error 2

& new issue options say betaflight
& this was the "closest" category to open the issue

EmuFlight Defaults wiki is still empty eheh

Not a feature request, just didn't find a more suitable category. I'm curious to see/know 1S Tiny Whoop defaults (https://github.com/emuflight/EmuFlight/wiki/Tiny-Whoops#1s-whoops) and 5-inch ones (https://github.com/emuflight/EmuFlight/wiki/5-Inch#heavy-freestyle) -- no info there. Is it really just "not there yet" or is it a coding issue?

Thanks!

Tmotor F4 target

Hi, can you please add a Tmotor F4 target?

This is the unified target config used in betaflight, this should help.

https://github.com/betaflight/unified-targets/blob/master/configs/default/TMTR-TMOTORF4.config

Thank you very much.

Request for target: TransTEC F7

Reckless_fpv requested Target for TransTEC F7

We need BLHELI32 esc start up tones

We need this as a start up tone to copy and paste into blheli32 escs --> https://youtu.be/2WNrx2jq184?t=28

No Gyro detected on Holybro Kakute F7 Flight Controller AIO.

Аfter flashing the board Holybro Kakute F7 Flight Controller AIO I have the same error.
Issue #39 didn't help me (different target)

REM: after flashing BetaFlight i have the dialog box with question like "Theare are special settings for this board....".

Motor 4 issue with Talon F7 v2 board

The Talon F7 v2 board put out by Heli-Nation was updated to add the use of RPM filtering in BF 4.x+ and as a result it created issues with motor resource mapping for motor 4 which renders motor 4 non-functional in the CLRacingF7 target that it uses. There was initially a CLI fix made available for correcting the issue and a permanent fix was added to BF 4.0.3+ code. The fix does not work with BF3.5.x as the additional timing parameters that are required for ESC telemetry over the ESC signal wire do not exist in 3.5.x and I learned from the designer that there is no fix planned for anything older than BF 4.x.

I understand that EMU Flight is based off of BF 3.5 code and therefore this issue may not be fixable without some deeper 3.5 code investigation to compare the changes between BF 3.5 to BF 4.x that fixed the issue.

Additional context
Just for reference:

EMU Motor Resource Defaults
resource MOTOR 1 B06
resource MOTOR 2 B07
resource MOTOR 3 B08
resource MOTOR 4 B09
resource MOTOR 5 B01
resource MOTOR 6 NONE
resource MOTOR 7 NONE
resource MOTOR 8 NONE

BF 4.x Motor Resource Defaults
resource MOTOR 1 B06
resource MOTOR 2 B07
resource MOTOR 3 B08
resource MOTOR 4 C08
resource MOTOR 5 A01
resource MOTOR 6 B09
resource MOTOR 7 C09
resource MOTOR 8 B01

Timer and related data added to CLI in BF 4.x

timer
timer B03 AF1
pin B03: TIM2 CH2 (AF1)
timer B06 AF2
pin B06: TIM4 CH1 (AF2)
timer B07 AF2
pin B07: TIM4 CH2 (AF2)
timer B08 AF2
pin B08: TIM4 CH3 (AF2)
timer B09 AF2
pin B09: TIM4 CH4 (AF2)
timer A01 AF2
pin A01: TIM5 CH2 (AF2)
timer C08 AF3
pin C08: TIM8 CH3 (AF3)
timer C09 AF3
pin C09: TIM8 CH4 (AF3)
timer B01 AF2
pin B01: TIM3 CH4 (AF2)
 
dma
dma SPI_TX 1 NONE
dma SPI_TX 2 NONE
dma SPI_TX 3 NONE
dma SPI_TX 4 NONE
dma SPI_RX 1 NONE
dma SPI_RX 2 NONE
dma SPI_RX 3 NONE
dma SPI_RX 4 NONE
dma ADC 1 1
ADC 1: DMA2 Stream 4 Channel 0
dma ADC 2 NONE
dma ADC 3 NONE
dma UART_TX 1 NONE
dma UART_TX 2 NONE
dma UART_TX 3 NONE
dma UART_TX 4 NONE
dma UART_TX 5 NONE
dma UART_TX 6 NONE
dma UART_TX 7 NONE
dma UART_TX 8 NONE
dma UART_RX 1 NONE
dma UART_RX 2 NONE
dma UART_RX 3 NONE
dma UART_RX 4 NONE
dma UART_RX 5 NONE
dma UART_RX 6 NONE
dma UART_RX 7 NONE
dma UART_RX 8 NONE
dma pin B03 0
pin B03: DMA1 Stream 6 Channel 3
dma pin B06 0
pin B06: DMA1 Stream 0 Channel 2
dma pin B07 0
pin B07: DMA1 Stream 3 Channel 2
dma pin B08 0
pin B08: DMA1 Stream 7 Channel 2
dma pin B09 NONE
dma pin A01 0
pin A01: DMA1 Stream 4 Channel 6
dma pin C08 0
pin C08: DMA2 Stream 2 Channel 0
dma pin C09 0
pin C09: DMA2 Stream 7 Channel 7
dma pin B01 0
pin B01: DMA1 Stream 2 Channel 5

Vtx channel, band and power level on switch.

Add a new mode that's a drop-down menu:

Change "band|channel|power" to "1|...|8 (or 5 for the band and power)"

And then users can use two of those or more to swap between different settings

Barometer & Magnetometer IIC

I tried getting my barometer and mag working on my mamba I2c port but the CLI did not recognize any of the Baro/mag set codes is this something that will be implemented at some point? would be great to have a more accurate GPS rescue feature.

RSSI sticks to channel 0 on F4S butterflight build 3.6.7

In CLI and configurator, selecting any channel for RSSI always switches back to disabled/channel 0. RSSI on OSD is connected to throttle channel. Analog RSSI is turned on in the Config tab. I can see the RSSI signal on Receiver tab so it too is working.

Came from working XM+ setup on Betaflight 3.2x and 4.0 so I know it works ;) First github issue report.

REQUEST FOR TARGET - T-MOTOR F7

Would love to have a target for the Tmotorf7. I'll gladly test it. I really prefer EMU over BF

MatekF722SE Camera contol

0.2.0 RC1 Not work camera control on matek f722se
In 0.1.0 it work good

No Gyro detected on Airbot Nano V6 default settings

Describe the bug
After Flashing the Airbot Nano V6 with OMNIBUSF4FW/OBFW there is no gyro detected.

To Reproduce
Flash the FC with the target. Start the configurator and you will see that the gyro is not shown.

Expected behavior
Gyro should be detected with the default settings.

Workaround
CLI command "set gyro_to_use = SECOND" will do the trick. Also, you need to use the Roll, Pitch and Yaw Degrees in the Config Tab to change the orientation, instead of the Gyro Alignment.

Flight controller configuration
EMUF_cli_N4V11_XXt_20191030_214501.txt

Setup / Versions
The setup is an ultralight build (210g, 6S, CrissCross 5" Frame, Airbot Nano V6, Aikon 4in1 35A Blheli_32 ESC Combo, Hyperlite HV Motors, TBS Crossfire Nano, TBS Unify Nano). Emuflight 0.1.0 Sep 16 2019.

Additional context
Afaik, this bug was present in betaflight at some version.

sudden yaw spins and control loss issue

Describe the bug
There might be two bugs, but are related somehow.

1. When flying agressivelly on 6s, quad makes yaw spins on sharp turns on higher throttle value.
   Sometimes it feels like slow glitch, sometimes quad feels like stuck in mud and feels drifting in curves.
2. If I insist on stressing quad it results in throttle jam on last input, and loss of control on all axes that lasts 0.5-1.5 sec.

Flight controller configuration
default settings emu 0.1.0 and 0.2.0 on imuf 211 and 213

Setup / Versions

• Flight controller [ helio spring mini ];
• Other components [ aikon 35a mini blheli32 , amaxinno 2207.5 and 2306 1800kv]

Additional context
I hope that I found solution, but last testing showed resolving both issues:

1 - on both quads: yaw jam and drifting is fixed by lowering stock pids by 20%, set emuboost to max 80, and emuboost limit to 5, absolute control and iterm rotation OFF, iterm relax -> setpoint 15. In filter settings Q = 7000, W= 32 , LPF = 90

2 - on first quad (amaxinno 2306 1800kv) problems of flying away is resolved by flashing prior version of imuf rc9b, on second quad (amaxinno 2207.5 1800kv) setting esc timing to 22 deg and demag to high seems to resolved loss of control issue on imuf 211 firmware.

NewBeeDrone FC support code bug

This code we only test on the corresponding flight controler. May be can't run on other FC.
Sorry, Mybee I should select the code.
So I close this issues, and open another.

Diatone GT-M530 OSD not working in emu, works in betaflight.

OSD disappears after Emuflight furyf4osd 0.1.0. install. OSD works fine with Betaflight. Ive compared cli dumps from bf and emu with no major differences.

To Reproduce
install emu furyf4osd 0.1.0 on a diatone gt-m530 and the osd disappears, the only way to get it back is to reinstall betaflight and disconnect the vtx and cam from fc. once reconnected osd is back.

Expected behavior
OSD should work like it did in betaflight.

Flight controller configuration
Create a diff and post it here in a code block. Put ``` (three backticks) at the start and end of the diff block (instructions on how to do a diff: https://oscarliang.com/use-diff-not-dump-betaflight/)

# version
# EmuFlight / FURYF4OSD (FY4O) 0.1.0 Sep 16 2019 / 22:29:05 (3956d2f50) MSP API: 1.40

board_name 
manufacturer_id 

# name
name GT-M530

# resources

# mixer

# servo

# servo mix


# feature

# beeper
beeper -ON_USB

# beacon
beacon RX_LOST
beacon RX_SET

# map

# serial
serial 2 2048 115200 57600 0 115200

# led

# color

# mode_color

# aux
aux 0 0 0 1850 2100 0 0
aux 1 1 2 1300 1700 0 0
aux 2 2 2 1700 2100 0 0
aux 3 13 5 1900 2100 0 0
aux 4 26 6 1350 1625 0 0
aux 5 31 6 1875 2100 0 0
aux 6 35 4 1825 2100 0 0
aux 7 36 1 1900 2100 0 0
aux 8 39 3 1875 2100 0 0

# adjrange

# rxrange

# vtx

# rxfail

# master
set rssi_channel = 16
set dshot_idle_value = 550
set motor_pwm_protocol = DSHOT600
set current_meter = ADC
set ibata_scale = 255
set small_angle = 180
set pid_process_denom = 1
set osd_warn_arming_disable = ON
set osd_warn_batt_not_full = ON
set osd_warn_batt_warning = ON
set osd_warn_batt_critical = ON
set osd_warn_visual_beeper = ON
set osd_warn_crash_flip = ON
set osd_warn_esc_fail = ON
set osd_warn_core_temp = OFF
set osd_cap_alarm = 1000
set osd_vbat_pos = 2433
set osd_rssi_pos = 2050
set osd_tim_2_pos = 2455
set osd_throttle_pos = 2181
set osd_vtx_channel_pos = 2392
set osd_current_pos = 2443
set osd_mah_drawn_pos = 2253
set osd_craft_name_pos = 2069
set osd_pidrate_profile_pos = 410
set osd_warnings_pos = 329
set osd_avg_cell_voltage_pos = 2341
set vtx_band = 5
set vtx_channel = 8
set vtx_power = 2
set vtx_freq = 5917
set vcd_video_system = NTSC

# profile
profile 0


# rateprofile
rateprofile 0

set thr_mid = 25
set thr_expo = 75
set roll_expo = 30
set pitch_expo = 30
set yaw_expo = 30
set roll_srate = 75
set pitch_srate = 75
set yaw_srate = 78
set tpa_breakpoint = 1650 

Setup / Versions

• Flight controller [what type is it, where was it bought from]; Mamba f405 v1 stack
• Other components [RX, VTX, brand / model for all of them, firmware version where applicable];
  XM+, TBS 800mw unlabeled, runcam swift
• how are the different components wired up.
  VTX to fc. CAM to fc.
  GT-M530 is BNF. OSD worked out of the box.

Additional context
please read emuflight discord for additional info. look for glossy_fpv.

Request for target: Succex F7

requested by @t3uch1

Portable version of Emuflight configurator

Installer takes a long time to be installed. Beside that it wou;d be nice if you can use Emuflight without installation - just portable, zip version would be nice - IMO.

included documentation is incomplete, outdated, not reflecting the actual code

Describe the solution you'd like
documentation should be actual and complete.

jittering cycle time when TELEMETRY is turned on.

Describe the bug
cycle times (shown in the configurator) jumping from 120 to 1020 every second or so.

To Reproduce
enable TELEMETRY feature, watch the cycle time.

Expected behavior
constant cycle time.

Setup / Versions
2x MATEKF411RX, FURY4OSD, OMNIBUSF4

TMOTORF4 TARGET - NO GYRO DETECTED

No Gyro Detected

Configurator: 0.2.12
Firmware: EMUF 0.2.0
Target: TMOTORF

get gyro

align_gyro = DEFAULT
Allowed values: DEFAULT, CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP

gyro_hardware_lpf = NORMAL
Allowed values: NORMAL, EXPERIMENTAL, 1KHZ_SAMPLING

gyro_32khz_hardware_lpf = NORMAL
Allowed values: NORMAL, EXPERIMENTAL

gyro_sync_denom = 1
Allowed range: 1 - 32

gyro_dyn_lpf = 0
Allowed range: 0 - 16000

gyro_lowpass_type = PT1
Allowed values: PT1, BIQUAD

gyro_lowpass_hz = 90
Allowed range: 0 - 16000

gyro_lowpass2_type = PT1
Allowed values: PT1, BIQUAD

gyro_lowpass2_hz = 0
Allowed range: 0 - 16000

gyro_notch1_hz = 0
Allowed range: 0 - 16000

gyro_notch1_cutoff = 0
Allowed range: 0 - 16000

gyro_notch2_hz = 0
Allowed range: 0 - 16000

gyro_notch2_cutoff = 0
Allowed range: 0 - 16000

gyro_calib_duration = 125
Allowed range: 50 - 3000

gyro_calib_noise_limit = 48
Allowed range: 0 - 200

gyro_offset_yaw = 0
Allowed range: -1000 - 1000

gyro_overflow_detect = ALL
Allowed values: OFF, YAW, ALL

gyro_use_32khz = OFF
Allowed values: OFF, ON

gyro_cal_on_first_arm = OFF
Allowed values: OFF, ON

irratic loop times on Lumenier micro lux v3

I flashed over to emu flight yesterday and took it for a flight did great, I wasn't paying attention to the cycle time or anything like that. I was resetting my PID profiles today and just noticed that the cycle times are pretty sporadic I am new to emu flight and IMU filtering so this may be normal. It bounces between 250 and 750 on the cycle times.

To Reproduce
Any flash from release firmware for lux4osd
Expected behavior
Does not seem to affect flights any I was just curious if this is normal.
Flight controller configuration

# version
# EmuFlight / LUXF4OSD (LUX4) 0.1.0 Sep 16 2019 / 22:43:03 (3956d2f50) MSP API: 1.40

board_name 
manufacturer_id 

# name

# resources

# mixer

# servo

# servo mix


# feature
feature -RX_PARALLEL_PWM
feature -AIRMODE
feature RX_SERIAL
feature TELEMETRY
feature ANTI_GRAVITY

# beeper
beeper -GYRO_CALIBRATED
beeper -RX_LOST
beeper -RX_LOST_LANDING
beeper -DISARMING
beeper -ARMING
beeper -ARMING_GPS_FIX
beeper -BAT_CRIT_LOW
beeper -BAT_LOW
beeper -GPS_STATUS
beeper -ACC_CALIBRATION
beeper -ACC_CALIBRATION_FAIL
beeper -READY_BEEP
beeper -DISARM_REPEAT
beeper -ARMED
beeper -SYSTEM_INIT
beeper -ON_USB
beeper -BLACKBOX_ERASE
beeper -CAM_CONNECTION_OPEN
beeper -CAM_CONNECTION_CLOSED
beeper -RC_SMOOTHING_INIT_FAIL

# beacon
beacon RX_SET

# map
map TREA1234

# serial
serial 0 64 115200 57600 0 115200
serial 2 2048 115200 57600 0 115200
serial 5 32 115200 57600 0 115200

# led

# color

# mode_color

# aux
aux 0 0 2 900 1625 0 0
aux 1 1 0 1850 2100 0 0
aux 2 13 0 900 1250 0 0
aux 3 26 2 900 1075 0 0
aux 4 28 2 900 1100 0 0
aux 5 35 0 900 1250 0 0

# adjrange

# rxrange

# vtx

# rxfail

# master
set gyro_sync_denom = 2
set mag_hardware = NONE
set baro_hardware = NONE
set serialrx_provider = SBUS
set motor_pwm_protocol = DSHOT600
set align_board_yaw = 90
set ibata_scale = 4000
set small_angle = 180
set pid_process_denom = 1
set osd_warn_arming_disable = ON
set osd_warn_batt_not_full = OFF
set osd_warn_batt_warning = OFF
set osd_warn_batt_critical = OFF
set osd_warn_visual_beeper = ON
set osd_warn_crash_flip = ON
set osd_warn_esc_fail = OFF
set osd_warn_core_temp = OFF
set osd_vbat_pos = 2113
set osd_rssi_pos = 2136
set osd_vtx_channel_pos = 2101
set osd_avg_cell_voltage_pos = 2081
set osd_stat_tim_2 = OFF
set osd_stat_max_spd = OFF
set osd_stat_min_batt = OFF
set osd_stat_battery = ON
set osd_stat_min_rssi = OFF
set osd_stat_max_curr = OFF
set osd_stat_used_mah = OFF
set osd_stat_bbox = OFF
set osd_stat_bb_no = OFF
set vtx_band = 5
set vtx_channel = 8
set vtx_power = 4
set vtx_freq = 5917
set vcd_video_system = NTSC

# profile
profile 0

set vbat_pid_gain = ON
set anti_gravity_gain = 5000
set feedforward_transition = 10
set iterm_relax = RP
set throttle_boost = 50
set i_decay = 7
set p_pitch = 63
set i_pitch = 70
set f_pitch = 100
set p_roll = 55
set i_roll = 70
set d_roll = 30
set f_roll = 100
set i_yaw = 70
set f_yaw = 100

# rateprofile
rateprofile 0

set roll_rc_rate = 126
set pitch_rc_rate = 126
set yaw_rc_rate = 115
set roll_expo = 35
set pitch_expo = 35
set yaw_expo = 35
set roll_srate = 76
set pitch_srate = 76
set yaw_srate = 76```


**Setup / Versions**

# EmuFlight / LUXF4OSD (LUX4) 0.1.0 Sep 16 2019 / 22:43:03 (3956d2f50) MSP API: 1.40
Lumenier micro lux v3 stack with Lumenier 30A BLHeli_32 4in1 ESC (2-4s)
akk fx3 vtx wired directly to vBat on esc, runcam split mini 2 powered from vtx, all using onboard osd, on the flight controller. 
Add any other context about the problem here.

Pid preset not working on FuryF4OSD Target Mambaf405mk2 fc

Disregard I'm an idiot
I can select a pid preset and save and when I open the configurator its back at pick a preset.

If your issue looks like a hardware fault or a configuration problem please don't raise an issue here.

Please consider using other user support options such as asking the manufacturer of the hardware you are using, RCGroups: https://rcgroups.com/forums/showthread.php?t=2464844, or Slack (registration at https://slack.betaflight.com/) or other user support forums & groups (e.g. facebook).

If you believe there is an issue with the firmware itself please follow these steps:

1. Describe your problem;
2. Include ways to reproduce the problem;
3. Provide information about your flightcontroller and other components including how they are connected/wired;
4. Add the used configuration and firmware version;
5. Create a diff and post it here in a code block. Put ``` (three backticks) at the start and end of the diff block (instructions on how to do a diff: https://oscarliang.com/use-diff-not-dump-betaflight/); and
6. Remove this Text :).

Feature Request: GPS Allow Arming (without lock)

Maybe refer to betaflight/betaflight#7320

requested by @Kahuna