From 9209cbe898c4da8ba0eaa40cc5d917b7d976a133 Mon Sep 17 00:00:00 2001
From: b14ckyy <33039058+b14ckyy@users.noreply.github.com>
Date: Wed, 19 Oct 2022 17:28:22 +0200
Subject: [PATCH 1/2] Update presets for 6.0

Removed IMU settings as the new Firmware Defaults will match MR and FW.
Added new YAW Default PIDs for better Turn-Assist control in nav modes with stab yaw used and more authority in acro
---
 js/defaults_dialog.js | 38 +++-----------------------------------
 1 file changed, 3 insertions(+), 35 deletions(-)

diff --git a/js/defaults_dialog.js b/js/defaults_dialog.js
index abcacddab..9fc1880be 100644
--- a/js/defaults_dialog.js
+++ b/js/defaults_dialog.js
@@ -542,7 +542,7 @@ helper.defaultsDialog = (function () {
             },
             {
                 key: "fw_p_yaw",
-                value: 20
+                value: 50
             },
             {
                 key: "fw_i_yaw",
@@ -550,27 +550,11 @@ helper.defaultsDialog = (function () {
             },
             {
                 key: "fw_d_yaw",
-                value: 0
+                value: 20
             },
             {
                 key: "fw_ff_yaw",
-                value: 100
-            },
-            {
-                key: "imu_acc_ignore_rate",
-                value: 7
-            },
-            {
-                key: "imu_acc_ignore_slope",
-                value: 4
-            },
-            {
-                key: "imu_dcm_kp",
-                value: 1000
-            },
-            {
-                key: "imu_dcm_ki",
-                value: 0
+                value: 255
             },
             {
                 key: "airmode_type",
@@ -783,22 +767,6 @@ helper.defaultsDialog = (function () {
                 key: "fw_ff_yaw",
                 value: 100
             },
-            {
-                key: "imu_acc_ignore_rate",
-                value: 9
-            },
-            {
-                key: "imu_acc_ignore_slope",
-                value: 5
-            },
-            {
-                key: "imu_dcm_kp",
-                value: 1000
-            },
-            {
-                key: "imu_dcm_ki",
-                value: 0
-            },
             {
                 key: "airmode_type",
                 value: "STICK_CENTER_ONCE"

From eb3abdb1f3ea38d7e5f9f28d37bb5f17826e67c5 Mon Sep 17 00:00:00 2001
From: b14ckyy <33039058+b14ckyy@users.noreply.github.com>
Date: Wed, 19 Oct 2022 17:38:15 +0200
Subject: [PATCH 2/2] Update defaults_dialog.js

---
 js/defaults_dialog.js | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/js/defaults_dialog.js b/js/defaults_dialog.js
index 9fc1880be..d57af8209 100644
--- a/js/defaults_dialog.js
+++ b/js/defaults_dialog.js
@@ -456,6 +456,18 @@ helper.defaultsDialog = (function () {
                 key: "motor_pwm_protocol",
                 value: "STANDARD"
             },
+            {
+                key: "imu_acc_ignore_rate",
+                value: 15
+            },
+            {
+                key: "imu_acc_ignore_slope",
+                value: 10
+            },
+            {
+                key: "imu_inertia_comp_method",
+                value: ADAPTIVE
+            },
             {
                 key: "throttle_idle",
                 value: 5.0
@@ -667,6 +679,18 @@ helper.defaultsDialog = (function () {
                 key: "motor_pwm_protocol",
                 value: "STANDARD"
             },
+            {
+                key: "imu_acc_ignore_rate",
+                value: 15
+            },
+            {
+                key: "imu_acc_ignore_slope",
+                value: 10
+            },
+            {
+                key: "imu_inertia_comp_method",
+                value: ADAPTIVE
+            },
             {
                 key: "throttle_idle",
                 value: 5.0