ZMR 250 Cleanflight Configuration

Configuration Tab

• ESC Motor Features
  • MOTOR_STOP - OFF
  • ONESTOP - OFF
  • Disable motors regardless of throttle value - ON
  • 1150 Minimum Throttle
  • 1500 Middle Throttle
  • 1850 Maxium Throttle
  • 1000 Minimum Command
• Yaw 90 degrees - account for rotation of flight controller
• RX_PPM - receiver is using PPM
• VBAT Voltage monitoring
  • 3.3 Minimum Cell Voltage
  • 4.3 Maximum Cell Voltage
• 3.4 Warning Cell Voltage
  • 114 Voltage Scale

PID Tuning

Basic

• Proportional
  • Roll 4.0
  • Pitch 4.0
  • Yaw 4.0
• Integral
  • .030
  • .030
  • .045
• Derivative
  • 23
  • 23
  • 0

Rates

• Roll .50
• Pitch .50
• Yaw .50

Receiver

• Throttle MID .50
• Throttle EXPO 0
• RC Rate 1.20
• RC Expo .65

Modes

• Angle - Aux 1 -- 900 to 1300
• Horizon - Aux 1 -- 1300 to 1700