Rambo Whoop - part list, FC settings, Q&A


#1

After going through many different Whoop setups, I really like this one:

The Rambo Whoop recipe:

Dr. Whoop CLI dump (inverted, as per video):

version

BetaFlight/BEEBRAIN 3.0.1 Oct 27 2016 / 23:13:02 (11090a4)

name

name Dr. Whoop v1.0 inv

mixer

mixer CUSTOM

mmix reset

mmix 0 1.000 1.000 1.000 1.000
mmix 1 1.000 1.000 -1.000 -1.000
mmix 2 1.000 -1.000 1.000 -1.000
mmix 3 1.000 -1.000 -1.000 1.000

servo

servo 0 1000 2000 1500 90 90 100 -1
servo 1 1000 2000 1500 90 90 100 -1
servo 2 1000 2000 1500 90 90 100 -1
servo 3 1000 2000 1500 90 90 100 -1
servo 4 1000 2000 1500 90 90 100 -1
servo 5 1000 2000 1500 90 90 100 -1
servo 6 1000 2000 1500 90 90 100 -1
servo 7 1000 2000 1500 90 90 100 -1

servo mix

smix reset

feature

feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -OSD
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature -TRANSPONDER
feature -AIRMODE
feature RX_PPM
feature VBAT
feature MOTOR_STOP
feature FAILSAFE

beeper

beeper GYRO_CALIBRATED
beeper RX_LOST
beeper RX_LOST_LANDING
beeper DISARMING
beeper ARMING
beeper ARMING_GPS_FIX
beeper BAT_CRIT_LOW
beeper BAT_LOW
beeper GPS_STATUS
beeper RX_SET
beeper ACC_CALIBRATION
beeper ACC_CALIBRATION_FAIL
beeper READY_BEEP
beeper MULTI_BEEPS
beeper DISARM_REPEAT
beeper ARMED
beeper SYSTEM_INIT
beeper ON_USB

map

map AETR1234

serial

serial 0 1 115200 57600 0 115200
serial 1 0 115200 57600 0 115200

led

led 0 0,0::C:0
led 1 0,0::C:0
led 2 0,0::C:0
led 3 0,0::C:0
led 4 0,0::C:0
led 5 0,0::C:0
led 6 0,0::C:0
led 7 0,0::C:0
led 8 0,0::C:0
led 9 0,0::C:0
led 10 0,0::C:0
led 11 0,0::C:0
led 12 0,0::C:0
led 13 0,0::C:0
led 14 0,0::C:0
led 15 0,0::C:0
led 16 0,0::C:0
led 17 0,0::C:0
led 18 0,0::C:0
led 19 0,0::C:0
led 20 0,0::C:0
led 21 0,0::C:0
led 22 0,0::C:0
led 23 0,0::C:0
led 24 0,0::C:0
led 25 0,0::C:0
led 26 0,0::C:0
led 27 0,0::C:0
led 28 0,0::C:0
led 29 0,0::C:0
led 30 0,0::C:0
led 31 0,0::C:0

color

color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0

mode_color

mode_color 0 0 1
mode_color 0 1 11
mode_color 0 2 2
mode_color 0 3 13
mode_color 0 4 10
mode_color 0 5 3
mode_color 1 0 5
mode_color 1 1 11
mode_color 1 2 3
mode_color 1 3 13
mode_color 1 4 10
mode_color 1 5 3
mode_color 2 0 10
mode_color 2 1 11
mode_color 2 2 4
mode_color 2 3 13
mode_color 2 4 10
mode_color 2 5 3
mode_color 3 0 8
mode_color 3 1 11
mode_color 3 2 4
mode_color 3 3 13
mode_color 3 4 10
mode_color 3 5 3
mode_color 4 0 7
mode_color 4 1 11
mode_color 4 2 3
mode_color 4 3 13
mode_color 4 4 10
mode_color 4 5 3
mode_color 5 0 9
mode_color 5 1 11
mode_color 5 2 2
mode_color 5 3 13
mode_color 5 4 10
mode_color 5 5 3
mode_color 6 0 6
mode_color 6 1 10
mode_color 6 2 1
mode_color 6 3 0
mode_color 6 4 0
mode_color 6 5 2
mode_color 6 6 3
mode_color 6 7 6
mode_color 6 8 0
mode_color 6 9 0
mode_color 6 10 0

aux

aux 0 0 0 1575 2100
aux 1 27 1 1300 2100
aux 2 1 0 900 2100
aux 3 0 0 900 900
aux 4 0 0 900 900
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

adjrange

adjrange 0 1 2 1325 1700 12 2
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0
adjrange 12 0 0 900 900 0 0
adjrange 13 0 0 900 900 0 0
adjrange 14 0 0 900 900 0 0

rxrange

rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

rxfail

rxfail 0 a
rxfail 1 a
rxfail 2 a
rxfail 3 a
rxfail 4 h
rxfail 5 h
rxfail 6 h
rxfail 7 h
rxfail 8 h
rxfail 9 h
rxfail 10 h
rxfail 11 h
rxfail 12 h
rxfail 13 h
rxfail 14 h
rxfail 15 h
rxfail 16 h
rxfail 17 h

master

set mid_rc = 1500
set min_check = 1020
set max_check = 1980
set rssi_channel = 0
set rssi_scale = 30
set rc_interpolation = AUTO
set rc_interpolation_interval = 19
set rssi_ppm_invert = OFF
set input_filtering_mode = OFF
set roll_yaw_cam_mix_degrees = 0
set max_aux_channels = 6
set debug_mode = NONE
set min_throttle = 1049
set max_throttle = 2000
set min_command = 1000
set servo_center_pulse = 1500
set max_esc_throttle_jump = 0
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set use_unsynced_pwm = ON
set motor_pwm_protocol = BRUSHED
set motor_pwm_rate = 4000
set servo_pwm_rate = 50
set disarm_kill_switch = ON
set gyro_cal_on_first_arm = OFF
set auto_disarm_delay = 5
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
set serialrx_provider = SPEK1024
set sbus_inversion = ON
set spektrum_sat_bind = 0
set spektrum_sat_bind_autoreset = 1
set telemetry_switch = OFF
set telemetry_inversion = ON
set frsky_default_lattitude = 0.000
set frsky_default_longitude = 0.000
set frsky_coordinates_format = 0
set frsky_unit = IMPERIAL
set frsky_vfas_precision = 0
set frsky_vfas_cell_voltage = OFF
set hott_alarm_sound_interval = 5
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set vbat_hysteresis = 1
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = OFF
set current_meter_type = ADC
set align_gyro = DEFAULT
set align_acc = DEFAULT
set align_mag = DEFAULT
set align_board_roll = 180
set align_board_pitch = 0
set align_board_yaw = 0
set max_angle_inclination = 700
set gyro_lpf = 98HZ
set gyro_sync_denom = 1
set gyro_lowpass_type = PT1
set gyro_lowpass = 100
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 300
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 100
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 0
set yaw_deadband = 0
set throttle_correction_value = 0
set throttle_correction_angle = 800
set yaw_control_direction = 1
set yaw_motor_direction = 1
set tri_unarmed_servo = ON
set servo_lowpass_freq = 400
set servo_lowpass_enable = OFF
set airmode_activate_throttle = 1350
set failsafe_delay = 2
set failsafe_off_delay = 0
set failsafe_throttle = 1000
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = DROP
set rx_min_usec = 885
set rx_max_usec = 2115
set gimbal_mode = NORMAL
set acc_hardware = AUTO
set acc_lpf_hz = 10.000
set accxy_deadband = 40
set accz_deadband = 40
set acc_unarmedcal = ON
set acc_trim_pitch = 0
set acc_trim_roll = 0
set pid_process_denom = 1
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = SERIAL
set blackbox_on_motor_test = OFF
set ledstrip_visual_beeper = OFF

profile

profile 0

set pid_delta_method = MEASUREMENT
set yaw_p_limit = 500
set pidsum_limit = 700
set dterm_lowpass_type = BIQUAD
set dterm_lowpass = 100
set dterm_notch_hz = 260
set dterm_notch_cutoff = 160
set vbat_pid_compensation = OFF
set pid_at_min_throttle = ON
set iterm_throttle_gain = 0
set setpoint_relax_ratio = 100
set dterm_setpoint_weight = 254
set yaw_rate_accel_limit = 220
set rate_accel_limit = 0
set accum_threshold = 130
set yaw_accum_threshold = 32
set yaw_lowpass = 0
set pid_controller = LEGACY
set p_pitch = 80
set i_pitch = 80
set d_pitch = 30
set p_roll = 70
set i_roll = 70
set d_roll = 30
set p_yaw = 180
set i_yaw = 45
set d_yaw = 0
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 20
set i_level = 50
set d_level = 50
set p_vel = 55
set i_vel = 55
set d_vel = 75
set level_sensitivity = 1.000
rateprofile 2

rateprofile

rateprofile 2

set rc_rate = 140
set rc_rate_yaw = 110
set rc_expo = 50
set rc_yaw_expo = 50
set thr_mid = 50
set thr_expo = 0
set roll_srate = 0
set pitch_srate = 0
set yaw_srate = 0
set tpa_rate = 0
set tpa_breakpoint = 1650

If you have any questions, THIS is the place to ask questions.
You have arrived, my friend.


BeeCore FC problem -flashing LED
The Whoopling concept (*all*-in-one FPV electronics)
#2

Could you do a test with motor pwm set to 16000 and see if you notice a difference, I’m trying to get some good basic settings to help folks with and that what I recommend over 4000. Don’t have a beebrain but on my F3 whoop I’m sure it sounds and behaves better. Another subjective observation!


#3

Thank you for this question, already been discussed but not 100 % sure… [0820-17] Looptime and pwm Frequencye
Someone from FB Tiny whoop (Chad South) posted a formula for optimal PWM rate on brushed motors: (kV) x (V) x (pole count) / 20 (MMW motors 5 poles) in this case
(19000 x 3,7 x 5) / 20 = 17575 (PWM rate) lower then 32000 and higher then 4000.
Does it influence some characteristics like current consumption, inertia, vibrations on frame. Is there a sweet spot for every motor frame prop combination?


#4

I know the formula which is why I generally run at 16000. Feels good :wink:


#5

Never touched pwm. Going to have to start!


#6

Settings are made for adjusting! Try it, fly it, adjust it…


#7

I never thought it did anything, what differences have you noticed?


#8

I’m fairly sure much of it is subjective but I once started at 1000 and upped by 500 or 1000 at a time noticing improvement in both sound and feel. This went on until around 16000, I couldn’t tell any difference going above that. I’d heard that too high is inefficient and wastes cycle time so decided to stick around 16000.


#9

@Benedikt holla this is a screaming whoop.
As said on FB already, your vids make me wanna buy more motors.
Damn it will never stop, haha.

I also run pwm 16000 on my tiny F3 China whoop. Couldn’t feel a difference to 32000, but if that magic formula is correct, why not try 17575 or sth close.
Maybe not recognisable but theoretically more efficient :thinking:.


#10

I concur - I really haven’t noticed any difference above 16K, but as @Luftschraube also asked - Is there a “sweet-spot” where motors run at max efficiency (speed vs. consumption)?


#11

The only difference I notice is the noise. 4kHz annoys me slightly, 8kHz annoys me a lot. 16kHz, I can’t hear anymore, so I usually set it to 16k.


#12

Good enough answer, noise is part of the feel. Yours screams as it goes by you in the video, I’ve not had my insane powered one outside yet for a high speed pass.


#13

@Benedikt I really must object to you posting all these cool builds.

When will it stop, my bank Manager is threatening to have an intervention :grinning:


#14

@pedro147 Well said my friend.
We’re in the same boat.


#15


#16

More Valium :slight_smile:


#17

Oh snap, the next whoop this shall be!!!


#18

That is not heavy enough to tame quadiction. I have not found a substance that can numb a person enough to stop buying quad stuff.

I have been looking for several years, so far alcoholism is the best counter, but it also does not bode well.


#19

Careful with the alcohol, last weekend some beers were instrumental in this arriving today!


#20

Lol. I just got a Taranis, too. So far, I’m impressed with the features but not so much with their quality control. The right gimbal is missing a screw, the speaker buzzes constantly (gotta get some ferrite clamps to fix that), the sticker above the speaker was installed at an angle so that one corner is up on the little plastic lip that it’s supposed to sit inside, the center point of the pot to the left of the speaker is at 11:00, and the round silver metallic sticker that was supposed to be at the center of the right side pot was stuck to the display.

None of those are show stoppers, but c’mon… my Devo 7E was put together with more care than this thing!

The DX7 feels significantly nicer in my hands, but this thing is a LOT more powerful.

The first thing that I did was kill that ratcheting action on the throttle!