The aim of this build was to create a versatile, powerful, and portable drone that balances lightweight design with broad functionality. It should be capable of capturing cinematic footage while also excelling in freestyle flying. Equipped with a naked O3 air unit (light), lightweight 4S batteries, a Crossfire receiver, and even a beeper, the drone still remains under 250g. Despite its lightweight design, the powerful motors provide enough capacity to support larger batteries or additional modules like GPS. The drone itself weighs around 180g, with an all-up weight of 246g. It hovers for 8 minutes, and offers 4-5 minutes of flight time in a freestyle and cruising mix.

Filters & PID's

The drone was initially configured with Bluejay 0.21.0 (48kHz) and Betaflight 4.5.1.
While Chris Rosser's AOS Tune performed fairly well, I have personally fine-tuned the drone to suit this particular
build.

Filter tuning

Based on the unfiltered noise data, the following filters and motor settings have been applied:

# master
set gyro_lpf1_static_hz = 0
set gyro_lpf2_static_hz = 1000
set dyn_notch_count = 1
set dyn_notch_q = 700
set dyn_notch_min_hz = 170
set dyn_notch_max_hz = 450
set gyro_lpf1_dyn_min_hz = 0
set rc_smoothing_auto_factor = 50
set simplified_gyro_filter = OFF
set rpm_filter_weights = 100,50,80

profile 0

# profile 0
set dterm_lpf1_dyn_min_hz = 70
set dterm_lpf1_dyn_max_hz = 110
set dterm_lpf1_dyn_expo = 7
set dterm_lpf1_type = BIQUAD
set dterm_lpf2_static_hz = 0

PID Tuning

The following PID settings have been applied:

profile 0

# profile 0
set anti_gravity_gain = 0
set iterm_relax_cutoff = 30
set pidsum_limit = 1000
set pidsum_limit_yaw = 1000
set p_pitch = 68
set i_pitch = 122
set d_pitch = 64
set f_pitch = 230
set p_roll = 59
set i_roll = 106
set d_roll = 56
set f_roll = 201
set p_yaw = 59
set i_yaw = 106
set f_yaw = 201
set d_min_roll = 42
set d_min_pitch = 47
set d_max_gain = 40
set d_max_advance = 0
set feedforward_smooth_factor = 0
set feedforward_jitter_factor = 10
set feedforward_boost = 10
set feedforward_max_rate_limit = 93
set dyn_idle_min_rpm = 57
set simplified_master_multiplier = 140
set simplified_pi_gain = 95
set simplified_feedforward_gain = 120
set simplified_pitch_pi_gain = 110
set simplified_dterm_filter = OFF
set tpa_mode = PD
set tpa_rate = 70