From fa46ca13b1e67987eda6b2cf69bb71372b8747b7 Mon Sep 17 00:00:00 2001
From: ChrisRosser <41840611+ChrisRosser@users.noreply.github.com>
Date: Thu, 21 Nov 2024 16:19:46 +0000
Subject: [PATCH] add hdzero aio preset

---
 presets/4.5/tune/aos_rc/aos_65mm_tune.txt     |   3 +-
 .../4.5/tune/aos_rc/aos_hdzero_aio5_65mm.txt  | 116 ++++++++++++++++++
 2 files changed, 118 insertions(+), 1 deletion(-)
 create mode 100644 presets/4.5/tune/aos_rc/aos_hdzero_aio5_65mm.txt

diff --git a/presets/4.5/tune/aos_rc/aos_65mm_tune.txt b/presets/4.5/tune/aos_rc/aos_65mm_tune.txt
index eabb23f99..9a1cec290 100644
--- a/presets/4.5/tune/aos_rc/aos_65mm_tune.txt
+++ b/presets/4.5/tune/aos_rc/aos_65mm_tune.txt
@@ -52,7 +52,8 @@ set feedforward_max_rate_limit = 95
 # -- Set integrated yaw to off, so pitch and yaw are independent (default) --
 # -- Gyro cal on first arm (off, default) --
 # -- Transient throttle limit (off, default) --
-# -- Thrust linear (off, default) --
+# -- Thrust linear --
+set thrust_linear = 25
 # -- Throttle boost (default, 5)
 # -- VBat warning threshold --
 
diff --git a/presets/4.5/tune/aos_rc/aos_hdzero_aio5_65mm.txt b/presets/4.5/tune/aos_rc/aos_hdzero_aio5_65mm.txt
new file mode 100644
index 000000000..04c2fdd55
--- /dev/null
+++ b/presets/4.5/tune/aos_rc/aos_hdzero_aio5_65mm.txt
@@ -0,0 +1,116 @@
+#$ TITLE: HDZERO AIO5 65mm Whoop tune by Chris Rosser
+#$ FIRMWARE_VERSION: 4.5
+#$ CATEGORY: TUNE
+#$ STATUS: EXPERIMENTAL
+#$ KEYWORDS: aos, chris, rosser, pid, tune, 65mm, tiny, whoop, hdzero, aio, aio5
+#$ AUTHOR: Chris Rosser
+#$ DISCUSSION: https://www.aos-rc.com
+#$ DESCRIPTION: Custom Tune for a 65mm Whoop usign the HDZero AIO5. Based on a 300mAh 1S build with 30000KV Motors.
+#$ DESCRIPTION:
+#$ DESCRIPTION: Master multiplier is set to 1.3 for safety. Increase it carefully to further improve flight performance.
+#$ DESCRIPTION:
+#$ DESCRIPTION: RPM filtering is MANDATORY!
+#$ DESCRIPTION:
+#$ DESCRIPTION: Please carefully review the options above and tick any that are relevant.
+#$ DESCRIPTION:
+#$ DESCRIPTION: Choose your RC link speed.
+#$ DESCRIPTION:
+#$ FORCE_OPTIONS_REVIEW: TRUE
+
+#$ INCLUDE: presets/4.5/tune/defaults.txt
+
+# -- PID values --
+set profile_name = AOS 65mm
+set angle_p_gain = 100
+set simplified_master_multiplier = 130
+set simplified_pi_gain = 130
+set simplified_dmax_gain = 0
+set simplified_pitch_pi_gain = 90
+set tpa_mode = PD
+set tpa_rate = 55
+
+# -- iTerm relax (default)--
+# -- iTerm windup (default)--
+# -- iTerm rotation (off, default) --
+
+# -- Dmax --
+set d_max_advance = 0
+
+# -- TPA --
+
+# -- Feedforward --
+set feedforward_max_rate_limit = 95
+
+# -- PIDsum limits (default)--
+# -- Antigravity (default) --
+# -- Absolute control (off, default) --
+# -- Accecleration limits (off, default) --
+# -- Angle and Horizon mode tuning (default) --
+# -- PIDs active below min throttle (default) --
+# -- Set mixer type to default (legacy) --
+# -- Set yaw spin recovery to default, which is auto --
+# -- Set integrated yaw to off, so pitch and yaw are independent (default) --
+# -- Gyro cal on first arm (off, default) --
+# -- Transient throttle limit (off, default) --
+# -- Thrust linear --
+set thrust_linear = 25
+# -- Throttle boost (default, 5)
+# -- VBat warning threshold --
+
+# -- Dynamic idle ON at 10000 rpm --
+set dyn_idle_min_rpm = 100
+set dyn_idle_p_gain = 40
+
+# ------ OPIONS GO BELOW THIS LINE ------
+
+# -- Filters --
+
+#$ OPTION_GROUP BEGIN: Filters
+    #$ OPTION BEGIN (CHECKED): AOS 65mm Filters (Recommended)
+        #$ INCLUDE: presets/4.5/filters/aos_rc/aos_65mm_filters.txt
+    #$ OPTION END
+
+#$ OPTION_GROUP END
+
+# -- Fast Rx Link Options --
+
+#$ OPTION_GROUP BEGIN: Choose your RC link (or apply another preset separately)
+    #$ OPTION BEGIN (UNCHECKED): ELRS_250HZ (Recommended)
+        #$ INCLUDE: presets/4.3/rc_link/elrs_250hz.txt
+    #$ OPTION END
+
+    #$ OPTION BEGIN (UNCHECKED): ELRS_500HZ
+        #$ INCLUDE: presets/4.3/rc_link/elrs_500hz.txt
+    #$ OPTION END
+    
+#$ OPTION_GROUP END
+
+# -- Recommended options --
+
+#$ OPTION_GROUP BEGIN: Check all of these (recommended)
+
+    # -- VBat sag compensation --
+    #$ OPTION BEGIN (CHECKED): Full battery sag compensation
+        set vbat_sag_compensation = 100
+        set vbat_sag_lpf_period = 2
+    #$ OPTION END
+
+    # -- Stick behaviour --
+    #$ OPTION BEGIN (UNCHECKED): No stick deadband
+        set deadband = 0
+        set yaw_deadband = 0
+    #$ OPTION END
+
+    # -- Startup and arming --
+    #$ OPTION BEGIN (UNCHECKED): Arm at any angle
+        set small_angle = 180
+    #$ OPTION END
+
+    # -- Prop direction --
+    #$ OPTION BEGIN (UNCHECKED): Props out (check motor direction!)
+        set yaw_motors_reversed = ON
+    #$ OPTION END
+
+#$ OPTION_GROUP END
+
+simplified_tuning apply
\ No newline at end of file