Uploaded May 2015 | Updated September 2026, 2 weeks ago

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Testing some modifications I did for PID1 and PID2 in cleanflight where I added TPA support and it really seems like a finishing touch. Also trying out the new yaw expo feature.

Setup:
- Blackout Mini H 5Inch 220 version
- Cleanflight Beta
- Naze32 acro rev5 http://www.multirotorparts.nl/electronics/flighcontrollers/naze32-acro-flightcontroller-rev5.html
- DYS SN20
- Cobra 2204/32 2300kv http://www.multirotorparts.nl/motors/cobra/new-cobra-2204-2300kv-multirotor-editie-met-vaste-adapter.html
- HQProp 5x45 bullnose http://www.multirotorparts.nl/propellers/5-propellers/hqprop-5-x-4-5-glasvezel-versterkte-bullnose-propeller-set-van-4-groen.html
- Sony PZ0420 Sony SuperHAD 600 FPV camera
- 4S 1800mAh Nanotech
- Fatshark Dominator V2
- Immersion 5.8 600mW vtx immersionrc.com
- Frsky Taranis w telemetry D4R-II http://www.multirotorparts.nl/electronics/rc-zenders-en-ontvangers/frsky-taranis-x9d-plus.html
- Gopro Hero4 Black

Settings:

Blheli Settings:
blheli 13.2 dl.dropboxusercontent.com/u/31537757/SN20.jpg

Naze32:
RC rate 1.0
RC Expo 0.70
Pitch and roll rate 0.60
Yaw rate 0.8
oneshot125
TPA = 0.5
rc_yaw_expo = 0.3
yaw_jump_prevention_limit=300
PID1
PID's to come(need to grab a screenshot)