DALRCF4-upgrade.cf

# To enable RPM filtering, first apply these settings

# timer and DMA changes for this target. These will ensure that your
# quad can receive telemetry frames on the motor signal lines.

timer C06 0
timer C07 1

dma pin C06 0
dma pin A10 1
dma pin A08 2
dma pin C08 1

# set looptime to 4k to have enough computational time

set gyro_sync_denom = 2
set pid_process_denom = 1

# Start with dshot 300 which is most robust

set motor_pwm_protocol=DSHOT300

# basic settings required to enable rpm filtering:

set scheduler_optimize_rate=on
set dshot_burst=off
set dshot_bidir=on

# enable debugging for noise assessment

set debug_mode=gyro_scaled

# reconfigure dynamic notch filter to focus on narrow frame resonances
# since motor noise will already be eliminated by the rpm filter.

set dyn_notch_range = medium
set dyn_notch_width_percent = 0
set dyn_notch_q = 250