Butterflight | BETAFLIGHT IS DEAD EVERYTHING HAS CHANGED this title is clickbait

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WHAT IS BUTTERFLIGHT? It's a fork of Betaflight. The Betaflight devs replaced the Kalman filter with a different one. Butterflight contains both filters so people can test which is better.

HOW DO YOU INSTALL BUTTERFLIGHT? Instructions are in this video. Download from here: http://butterflight.co/

IS BUTTERFLIGHT BETTER THAN BETAFLIGHT? Not even gonna touch that one. But I have some sample footage you can watch and start to form an opinion.

Helio RC flight controller with Butterflight pre-installed available from: https://heliorc.com/

-- BUTTERFLIGHT CONFIGURATION DUMP --

This version sets the stage2 and kalman lowpass to 250 Hz, and disables the dynamic notch filter. This is the approach suggested by some Betaflight devs that I interviewed. This approach has approximately the same latency as the other approach, but has significantly lower CPU utilization because the dynamic filter is off. However, this approach is slightly more likely to burn your motors because the static filters don't respond to a broken prop or something like that.

-- COPY FROM HERE BUT NOT INCLUDING THIS LINE --

feature AIRMODE
feature ANTI_GRAVITY
feature -DYNAMIC_FILTER
set gyro_notch1_hz = 0
set gyro_notch2_hz = 0
set cpu_overclock = 192MHZ
set gyro_use_32khz = ON
set gyro_sync_denom = 1
set pid_process_denom = 2
set acc_hardware = NONE
set mag_hardware = NONE
set baro_hardware = NONE
set dterm_lowpass_type = PT1
set dterm_notch_hz = 0
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 90

ONLY PASTE IN ONE OF THESE LINES DEPENDING ON WHICH FILTER
YOU WANT TO TEST OUT. YOU CAN GO BACK AND FORTH BY
ENTERING EACH LINE IN THE CLI.

set gyro_stage2_filter_type = FAST_KALMAN
set gyro_stage2_filter_type = BIQUAD_RC_FIR2

THESE THREE LINES ARE FOR A LOWPASS OF 250 HZ. ONLY DO THIS
IF YOU TRY THE 150 HZ LOWPASS AND YOUR MOTORS ARE COOL
HOWEVER I FOUND THAT 250 HZ GAVE NOTICEABLY BETTER PERFORMANCE
SO TRY IT IF YOU CAN.

set gyro_filter_q = 50
set gyro_filter_r = 88
set gyro_stage2_lowpass_hz = 250

THESE THREE LINES ARE FOR A LOWPASS OF 150 HZ. THIS IS THE
SAFEST VALUE THAT IS NOT LIKELY TO SMOKE YOUR MOTORS BUT
IT GIVES SLIGHTLY WORSE PERFORMANCE.

set gyro_filter_q = 19
set gyro_filter_r = 88
set gyro_stage2_lowpass_hz = 150

-- COPY TO HERE BUT NOT INCLUDING THIS LINE --

This version sets the stage2 and Kalman lowpass to 711 Hz, which is above the motor frequencies. Then it enables the dynamic filter to cover the motor frequencies. This approach is recommended by the Butterflight devs. It is more CPU intensive, but it is also probably more likely to resist smoking the motors because the dynamic filter can respond to broken props and stuff like that.

-- COPY FROM HERE BUT NOT INCLUDING THIS LINE --
feature
feature AIRMODE
feature ANTI_GRAVITY
feature DYNAMIC_FILTER
set gyro_notch1_hz = 0
set gyro_notch2_hz = 0
set cpu_overclock = 192MHZ
set gyro_use_32khz = ON
set gyro_sync_denom = 1
set pid_process_denom = 2
set acc_hardware = NONE
set mag_hardware = NONE
set baro_hardware = NONE
set dterm_lowpass_type = PT1
set dterm_notch_hz = 0
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 90

ONLY PASTE IN ONE OF THESE LINES DEPENDING ON WHICH FILTER
YOU WANT TO TEST OUT. YOU CAN GO BACK AND FORTH BY
ENTERING EACH LINE IN THE CLI.

set gyro_stage2_filter_type = FAST_KALMAN
set gyro_stage2_filter_type = BIQUAD_RC_FIR2
set gyro_filter_q = 400
set gyro_filter_r = 88
set gyro_stage2_lowpass_hz = 711