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Here's the full text of George's post on the Betaflight FB Group
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I don't know if any of you who haven't tried flying Betaflight 4.0 would like to - a lot of us have and really, really like it! If you're interested, you can download the latest build for your FC target at Betaflight Jenkins, paste the diff of your current setup into the CLI, then select an unused PID profile and paste the following into the CLI after reading the descriptive information:
Universal PIDS / Filters and Dynamic Settings for Build 1269 and later of Betaflight 4.0 with dual Dynamic Notch filters and Dynamic Lowpass gyro and dterm filters. The only variable is dyn_lpf_gyro_max_hz, which is set based on FFT peak at full throttle. This setting should be 25hz over the peak FFT
at full throttle as determined by using debug_mode = dyn_lpf and the value of Debug 1 at full throttle. If no logging is available, the default value (500hz) works for 5" quads, 625hz is a good general level for 3500 - 3750kv motors, 675-700hz for 3900 - 5000kv motors and 700-800hz for 5500-7500kv motors.
Copy and paste the CLI commands below (after pasting your current diff) and set dyn_lpf_gyro_max_hz as needed if you are flying a micro.
These settings were determined by CTZSnooze and work well on all my quads.
set dyn_lpf_dterm_min_hz = 120
set dyn_lpf_dterm_max_hz = 180
set dterm_lowpass_type = BIQUAD
set dterm_lowpass_hz = 120
set dterm_lowpass2_type = BIQUAD
set dterm_lowpass2_hz = 150
set dterm_notch_hz = 0
set gyro_lowpass_type = BIQUAD
set gyro_lowpass_hz = 150
set dyn_lpf_gyro_min_hz = 150
set dyn_lpf_gyro_max_hz = 500
set gyro_lowpass2_type = PT1
set gyro_lowpass2_hz = 0
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 0
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 0
set dyn_notch_range = AUTO
set dyn_notch_width_percent = 8
set dyn_notch_q = 120
set dyn_notch_min_hz = 150
set p_pitch = 50
set i_pitch = 85
set d_pitch = 16
set f_pitch = 60
set p_roll = 50
set i_roll = 78
set d_roll = 16
set f_roll = 60
set p_yaw = 10
set i_yaw = 130
set d_yaw = 0
set f_yaw = 100
set angle_level_strength = 50
set horizon_level_strength = 50
set horizon_transition = 75
set tpa_rate = 50
set tpa_breakpoint = 1500
set tpa_mode = D
If you are like those of us who have flown the new code with the above settings, you will love the way your quad flies and appreciate warm batteries with cold motors! The settings presented here are for gyros operating at 8k/8k - not 32k. If you are flying 32k, you will have to select 8k mode to fly the above.
(Supplemental) - Some micros will not like P gains at 50 for Pitch and Roll - I've noticed that the higher powered quads in the 3" range prefer lower P gains. In addition to increasing lpf_gyro_max for the higher revving micros, you may need to reduce P gains to somewhere in the 30-40 range if you develop oscillations or full throttle "shake." Some micros are quite happy at the 50 level - others not - so, as with any suggested starting values, respond accordingly to how your quad flies.
