Uploaded May 2015 | Updated September 2026, 3 weeks ago

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Went for some evening freestyle and playing with latest cleanflight 1.9.0 on my mini h for final tune and the PID1 is so locked in now.

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 http://www.multirotorparts.nl/electronics/esc/dys-sn20a-esc-blheli.html
- 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 13.1 dl.dropboxusercontent.com/u/31537757/SN20.jpg

Naze32:
set rc_rate = 100
set rc_expo = 70
set rc_yaw_expo = 35
set thr_mid = 50
set thr_expo = 0
set roll_rate = 60
set pitch_rate = 60
set yaw_rate = 95
set tpa_rate = 50
set tpa_breakpoint = 1400
yaw_jump_prevention_limit=300
set pid_controller = 1
set p_pitch = 55
set i_pitch = 30
set d_pitch = 30
set p_roll = 40
set i_roll = 20
set d_roll = 30
set p_yaw = 135
set i_yaw = 65
set d_yaw = 1
set p_level = 20
set i_level = 20
set d_level = 150
set looptime=1500
feature ONESHOT125
set min_command = 1000
set min_check = 1020
set min_throttle = 1080
set pid_at_min_throttle=1