# 5" freestyle — Betaflight 4.x 起步预设
set rc_smoothing = ON
set rc_smoothing_type = FILTER
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 150
set gyro_lowpass2_type = BIQUAD
set gyro_lowpass2_hz = 250
set dterm_lowpass_type = BIQUAD
set dterm_lowpass_hz = 130
set dterm_lowpass2_hz = 200
set dyn_notch_width_percent = 0
set dyn_notch_q = 500
set dyn_notch_min_hz = 120
set dyn_lpf_gyro_min_hz = 200
set dyn_lpf_gyro_max_hz = 500
set pid_process_denom = 1
set gyro_rpm_notch_hz = 0
profile 1
set p_pitch = 58
set i_pitch = 92
set d_pitch = 58
set p_roll = 50
set i_roll = 85
set d_roll = 50
set p_yaw = 60
set i_yaw = 90
set d_yaw = 20
set feedforward_a = 20
set feedforward_b = 25
set feedforward_smooth_factor = 13
set tpa_rate = 65
set tpa_breakpoint = 1250
rateprofile 0
set rc_rate = 100
set rc_rate_yaw = 100
set rc_expo = 0
set rc_expo_yaw = 0
set rates = 70
set rates_yaw = 70
set roll_pitch_rate = 670
set yaw_rate = 600
save

# 3" toothpick — 轻、响应快，滤波要更激进
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 200
set gyro_lowpass2_type = BIQUAD
set gyro_lowpass2_hz = 300
set dterm_lowpass_type = BIQUAD
set dterm_lowpass_hz = 150
set dterm_lowpass2_hz = 240
set dyn_notch_min_hz = 150
set dyn_lpf_gyro_min_hz = 250
set dyn_lpf_gyro_max_hz = 600
profile 1
set p_pitch = 70
set i_pitch = 110
set d_pitch = 45
set p_roll = 62
set i_roll = 100
set d_roll = 40
set p_yaw = 70
set i_yaw = 100
set d_yaw = 18
set feedforward_a = 25
set feedforward_b = 30
set tpa_rate = 70
set tpa_breakpoint = 1300
rateprofile 0
set rc_rate = 110
set rc_expo = 15
set rates = 75
set roll_pitch_rate = 720
set yaw_rate = 600
save

# 7" long range — 重桨大机，P 要降、D 略升防抖
set gyro_lowpass_hz = 110
set gyro_lowpass2_hz = 200
set dterm_lowpass_hz = 110
set dterm_lowpass2_hz = 180
set dyn_notch_min_hz = 100
set dyn_lpf_gyro_min_hz = 160
set dyn_lpf_gyro_max_hz = 420
profile 1
set p_pitch = 42
set i_pitch = 70
set d_pitch = 52
set p_roll = 38
set i_roll = 65
set d_roll = 48
set p_yaw = 48
set i_yaw = 72
set d_yaw = 22
set feedforward_a = 15
set feedforward_b = 20
set tpa_rate = 55
set tpa_breakpoint = 1200
rateprofile 0
set rc_rate = 90
set rc_expo = 30
set rates = 60
set roll_pitch_rate = 500
set yaw_rate = 450
save

# Cinewhoop — 平顺优先，低 P、高 D、强平滑
set rc_smoothing = ON
set rc_smoothing_type = FILTER
set gyro_lowpass_hz = 120
set gyro_lowpass2_hz = 220
set dterm_lowpass_hz = 120
set dterm_lowpass2_hz = 200
set dyn_notch_min_hz = 110
set dyn_lpf_gyro_min_hz = 180
set dyn_lpf_gyro_max_hz = 450
profile 1
set p_pitch = 46
set i_pitch = 78
set d_pitch = 56
set p_roll = 42
set i_roll = 72
set d_roll = 52
set p_yaw = 50
set i_yaw = 80
set d_yaw = 24
set feedforward_a = 10
set feedforward_b = 15
set feedforward_smooth_factor = 20
set tpa_rate = 50
set tpa_breakpoint = 1100
rateprofile 0
set rc_rate = 95
set rc_expo = 35
set rates = 58
set roll_pitch_rate = 480
set yaw_rate = 420
save