# Preset for Goosky S2 Ultra 12/17/25
# ESC needs to be updated and configured to match
# diff all

# version
# Rotorflight / STM32F405 (S405) 4.5.1 Jul 25 2025 / 06:36:57 (e69823a) MSP API: 12.8

# start the command batch
batch start

# reset configuration to default settings
defaults nosave

board_name GOOSKY_F4MINI
board_design RTFL
manufacturer_id GSKY

# name: S2 Ultra

# feature
feature TELEMETRY
feature GOVERNOR
feature RPM_FILTER

# servo
servo 1 1500 -650 650 535 535 400 60 2
servo 2 1500 -650 650 535 535 400 60 2
servo 3 1500 -650 650 535 535 400 60 2

# mixer input
mixer input SR -833 833 1179
mixer input SP -833 833 -1179
mixer input SY -1000 1000 1000
mixer input SC -1167 1167 1179

# aux
aux 0 0 0 1950 2050 0 0
aux 1 53 2 1950 2050 0 0

# adjfunc
adjfunc 0 2 255 1500 1500 1 900 2015 1500 1500 0 1 3
adjfunc 1 1 255 1500 1500 1 875 2000 1500 1500 0 1 3

# master
set gyro_lpf1_static_hz = 150
set dyn_notch_count = 3
set dyn_notch_q = 40
set dyn_notch_min_hz = 50
set dyn_notch_max_hz = 245
set acc_calibration = 0,0,0,0
set align_mag = CW0
set blackbox_mode = ARMED
set blackbox_rate_denom = 2
set blackbox_log_acc = ON
set blackbox_log_alt = OFF
set blackbox_log_esc = ON
set blackbox_log_bec = ON
set blackbox_rolling_erase = ON
set motor_poles = 24,12,0,0
set bat_capacity = 750
set cbat_alert_percent = 30
set battery_cell_count = 3
set tail_rotor_mode = MOTORIZED
set tail_motor_idle = 60
set swash_collective_trim = 150
set swash_pitch_limit = 1750
set swash_geo_correction = -50
set gov_mode = MODE1
set gov_startup_time = 400
set gov_handover_throttle = 10
set gov_tta_filter = 30
set gov_ff_filter = 30
set rc_arm_throttle = 1010
set rc_min_throttle = 1020
set rc_max_throttle = 2000
set pid_process_denom = 2
set crsf_telemetry_mode = CUSTOM
set crsf_telemetry_link_rate = 500
set telemetry_sensors = 3,4,5,6,15,23,43,52,60,90,91,93,95,96,99,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
set debug_mode = GOVERNOR
set gyro_rpm_notch_preset = 0
set gyro_rpm_notch_min_hz = 50
set gyro_rpm_notch_source_pitch = 10,11,12,13,14,21,0,0,0,0,0,0,0,0,0,0
set gyro_rpm_notch_q_pitch = 80,80,30,100,100,100,0,0,0,0,0,0,0,0,0,0
set gyro_rpm_notch_source_roll = 10,11,12,13,14,21,22,0,0,0,0,0,0,0,0,0
set gyro_rpm_notch_q_roll = 80,60,30,100,100,100,100,0,0,0,0,0,0,0,0,0
set gyro_rpm_notch_source_yaw = 10,11,12,13,14,21,22,0,0,0,0,0,0,0,0,0
set gyro_rpm_notch_q_yaw = 80,80,40,100,100,100,100,0,0,0,0,0,0,0,0,0
set name = S2 Ultra

profile 0

# profile 0
set profile_name = P1
set pid_mode = 3
set pid_gyro_filter_type = FIRST_ORDER
set pitch_p_gain = 55
set pitch_i_gain = 100
set pitch_d_gain = 12
set pitch_f_gain = 100
set pitch_b_gain = 22
set pitch_o_gain = 28
set roll_p_gain = 50
set roll_i_gain = 100
set roll_d_gain = 12
set roll_f_gain = 100
set roll_b_gain = 15
set roll_o_gain = 26
set yaw_p_gain = 62
set yaw_i_gain = 100
set yaw_d_gain = 50
set yaw_b_gain = 35
set yaw_f_gain = 20
set pitch_d_cutoff = 40
set pitch_b_cutoff = 40
set pitch_gyro_cutoff = 100
set roll_d_cutoff = 40
set roll_b_cutoff = 40
set roll_gyro_cutoff = 100
set yaw_d_cutoff = 50
set yaw_b_cutoff = 50
set yaw_gyro_cutoff = 125
set yaw_cw_stop_gain = 120
set yaw_ccw_stop_gain = 80
set yaw_precomp_cutoff = 18
set yaw_precomp_filter_type = FIRST_ORDER
set yaw_cyclic_ff_gain = 15
set yaw_collective_ff_gain = 50
set yaw_inertia_precomp_gain = 10
set yaw_inertia_precomp_cutoff = 250
set pitch_collective_ff_gain = 0
set cyclic_cross_coupling_gain = 50
set cyclic_cross_coupling_ratio = 6
set cyclic_cross_coupling_cutoff = 30
set error_rotation = ON
set error_limit = 50,50,60
set offset_limit = 80,80
set error_decay_time_ground = 25
set error_decay_time_cyclic = 150
set error_decay_time_yaw = 0
set error_decay_limit_cyclic = 12
set error_decay_limit_yaw = 0
set offset_flood_relax_level = 45
set offset_flood_relax_cutoff = 14
set iterm_relax_type = RPY
set iterm_relax_level = 50,50,40
set iterm_relax_cutoff = 18,18,18
set angle_level_strength = 40
set angle_level_limit = 55
set horizon_level_strength = 40
set horizon_transition = 75
set horizon_tilt_effect = 75
set horizon_tilt_expert_mode = OFF
set acro_trainer_angle_limit = 20
set acro_trainer_lookahead_ms = 50
set acro_trainer_gain = 75
set rescue_mode = CLIMB
set rescue_flip = OFF
set rescue_flip_gain = 200
set rescue_level_gain = 85
set rescue_pull_up_time = 2
set rescue_climb_time = 3
set rescue_flip_time = 20
set rescue_exit_time = 5
set rescue_pull_up_collective = 1000
set rescue_climb_collective = 650
set rescue_hover_collective = 400
set rescue_hover_altitude = 500
set rescue_alt_p_gain = 20
set rescue_alt_i_gain = 20
set rescue_alt_d_gain = 10
set rescue_max_sp_rate = 300
set rescue_max_sp_accel = 800
set rescue_max_collective = 500
set gov_headspeed = 4400
set gov_gain = 50
set gov_p_gain = 25
set gov_i_gain = 65
set gov_d_gain = 2
set gov_f_gain = 13
set gov_p_limit = 40
set gov_i_limit = 95
set gov_d_limit = 5
set gov_f_limit = 50
set gov_tta_gain = 50
set gov_tta_limit = 60
set gov_yaw_ff_weight = 0
set gov_cyclic_ff_weight = 30
set gov_collective_ff_weight = 100
set gov_max_throttle = 100
set gov_min_throttle = 25

profile 1

# profile 1
set profile_name = P2
set pid_mode = 3
set pid_gyro_filter_type = FIRST_ORDER
set pitch_p_gain = 55
set pitch_i_gain = 100
set pitch_d_gain = 12
set pitch_f_gain = 95
set pitch_b_gain = 22
set pitch_o_gain = 28
set roll_p_gain = 50
set roll_i_gain = 100
set roll_d_gain = 12
set roll_f_gain = 95
set roll_b_gain = 15
set roll_o_gain = 26
set yaw_p_gain = 62
set yaw_i_gain = 100
set yaw_d_gain = 50
set yaw_b_gain = 35
set yaw_f_gain = 20
set pitch_d_cutoff = 40
set pitch_b_cutoff = 40
set pitch_gyro_cutoff = 100
set roll_d_cutoff = 40
set roll_b_cutoff = 40
set roll_gyro_cutoff = 100
set yaw_d_cutoff = 50
set yaw_b_cutoff = 50
set yaw_gyro_cutoff = 125
set yaw_cw_stop_gain = 130
set yaw_ccw_stop_gain = 90
set yaw_precomp_cutoff = 18
set yaw_precomp_filter_type = FIRST_ORDER
set yaw_cyclic_ff_gain = 15
set yaw_collective_ff_gain = 50
set yaw_inertia_precomp_gain = 10
set yaw_inertia_precomp_cutoff = 250
set pitch_collective_ff_gain = 0
set cyclic_cross_coupling_gain = 50
set cyclic_cross_coupling_ratio = 6
set cyclic_cross_coupling_cutoff = 30
set error_rotation = ON
set error_limit = 50,50,60
set offset_limit = 80,80
set error_decay_time_ground = 25
set error_decay_time_cyclic = 150
set error_decay_time_yaw = 0
set error_decay_limit_cyclic = 12
set error_decay_limit_yaw = 0
set offset_flood_relax_level = 45
set offset_flood_relax_cutoff = 14
set iterm_relax_type = RPY
set iterm_relax_level = 50,50,40
set iterm_relax_cutoff = 18,18,18
set angle_level_strength = 40
set angle_level_limit = 55
set horizon_level_strength = 40
set horizon_transition = 75
set horizon_tilt_effect = 75
set horizon_tilt_expert_mode = OFF
set acro_trainer_angle_limit = 20
set acro_trainer_lookahead_ms = 50
set acro_trainer_gain = 75
set rescue_mode = CLIMB
set rescue_flip = OFF
set rescue_flip_gain = 200
set rescue_level_gain = 85
set rescue_pull_up_time = 2
set rescue_climb_time = 3
set rescue_flip_time = 20
set rescue_exit_time = 5
set rescue_pull_up_collective = 950
set rescue_climb_collective = 650
set rescue_hover_collective = 400
set rescue_hover_altitude = 500
set rescue_alt_p_gain = 20
set rescue_alt_i_gain = 20
set rescue_alt_d_gain = 10
set rescue_max_sp_rate = 300
set rescue_max_sp_accel = 800
set rescue_max_collective = 500
set gov_headspeed = 5100
set gov_gain = 50
set gov_p_gain = 25
set gov_i_gain = 70
set gov_d_gain = 2
set gov_f_gain = 14
set gov_p_limit = 40
set gov_i_limit = 95
set gov_d_limit = 5
set gov_f_limit = 50
set gov_tta_gain = 40
set gov_tta_limit = 60
set gov_yaw_ff_weight = 0
set gov_cyclic_ff_weight = 30
set gov_collective_ff_weight = 100
set gov_max_throttle = 100
set gov_min_throttle = 25

profile 2

# profile 2
set profile_name = P3
set pid_mode = 3
set pid_gyro_filter_type = FIRST_ORDER
set pitch_p_gain = 55
set pitch_i_gain = 100
set pitch_d_gain = 12
set pitch_f_gain = 95
set pitch_b_gain = 22
set pitch_o_gain = 26
set roll_p_gain = 50
set roll_i_gain = 100
set roll_d_gain = 12
set roll_f_gain = 95
set roll_b_gain = 15
set roll_o_gain = 26
set yaw_p_gain = 62
set yaw_i_gain = 100
set yaw_d_gain = 50
set yaw_b_gain = 35
set yaw_f_gain = 20
set pitch_d_cutoff = 40
set pitch_b_cutoff = 40
set pitch_gyro_cutoff = 100
set roll_d_cutoff = 40
set roll_b_cutoff = 40
set roll_gyro_cutoff = 100
set yaw_d_cutoff = 50
set yaw_b_cutoff = 50
set yaw_gyro_cutoff = 125
set yaw_cw_stop_gain = 120
set yaw_ccw_stop_gain = 80
set yaw_precomp_cutoff = 18
set yaw_precomp_filter_type = FIRST_ORDER
set yaw_cyclic_ff_gain = 15
set yaw_collective_ff_gain = 50
set yaw_inertia_precomp_gain = 10
set yaw_inertia_precomp_cutoff = 250
set pitch_collective_ff_gain = 0
set cyclic_cross_coupling_gain = 50
set cyclic_cross_coupling_ratio = 6
set cyclic_cross_coupling_cutoff = 30
set error_rotation = ON
set error_limit = 50,50,60
set offset_limit = 80,80
set error_decay_time_ground = 25
set error_decay_time_cyclic = 150
set error_decay_time_yaw = 0
set error_decay_limit_cyclic = 12
set error_decay_limit_yaw = 0
set offset_flood_relax_level = 45
set offset_flood_relax_cutoff = 14
set iterm_relax_type = RPY
set iterm_relax_level = 50,50,40
set iterm_relax_cutoff = 18,18,18
set angle_level_strength = 40
set angle_level_limit = 55
set horizon_level_strength = 40
set horizon_transition = 75
set horizon_tilt_effect = 75
set horizon_tilt_expert_mode = OFF
set acro_trainer_angle_limit = 20
set acro_trainer_lookahead_ms = 50
set acro_trainer_gain = 75
set rescue_mode = CLIMB
set rescue_flip = OFF
set rescue_flip_gain = 200
set rescue_level_gain = 85
set rescue_pull_up_time = 2
set rescue_climb_time = 3
set rescue_flip_time = 20
set rescue_exit_time = 5
set rescue_pull_up_collective = 950
set rescue_climb_collective = 650
set rescue_hover_collective = 400
set rescue_hover_altitude = 500
set rescue_alt_p_gain = 20
set rescue_alt_i_gain = 20
set rescue_alt_d_gain = 10
set rescue_max_sp_rate = 300
set rescue_max_sp_accel = 800
set rescue_max_collective = 500
set gov_headspeed = 5500
set gov_gain = 50
set gov_p_gain = 25
set gov_i_gain = 75
set gov_d_gain = 2
set gov_f_gain = 14
set gov_p_limit = 40
set gov_i_limit = 95
set gov_d_limit = 5
set gov_f_limit = 50
set gov_tta_gain = 30
set gov_tta_limit = 60
set gov_yaw_ff_weight = 0
set gov_cyclic_ff_weight = 30
set gov_collective_ff_weight = 100
set gov_max_throttle = 100
set gov_min_throttle = 25


# restore original profile selection
profile 0

rateprofile 0

# rateprofile 0
set rateprofile_name = -
set rates_type = RACEFLIGHT
set quickrates_rc_expo = OFF
set roll_rc_rate = 35
set pitch_rc_rate = 35
set yaw_rc_rate = 63
set collective_rc_rate = 54
set roll_expo = 20
set pitch_expo = 20
set yaw_expo = 50
set collective_expo = 0
set roll_srate = 0
set pitch_srate = 0
set yaw_srate = 0
set collective_srate = 0
set roll_accel_limit = 0
set pitch_accel_limit = 0
set yaw_accel_limit = 0
set collective_accel_limit = 0
set roll_level_expo = 0
set pitch_level_expo = 0
set roll_response = 15
set pitch_response = 15
set yaw_response = 4
set collective_response = 2
set cyclic_ring = 0
set setpoint_boost_gain = 10,10,60,0
set setpoint_boost_cutoff = 15,15,90,15
set yaw_dynamic_ceiling_gain = 20
set yaw_dynamic_deadband_gain = 25
set yaw_dynamic_deadband_filter = 60
set yaw_dynamic_deadband_cutoff = 50

rateprofile 1

# rateprofile 1
set rateprofile_name = -
set rates_type = RACEFLIGHT
set quickrates_rc_expo = OFF
set roll_rc_rate = 35
set pitch_rc_rate = 35
set yaw_rc_rate = 63
set collective_rc_rate = 48
set roll_expo = 20
set pitch_expo = 20
set yaw_expo = 50
set collective_expo = 0
set roll_srate = 0
set pitch_srate = 0
set yaw_srate = 0
set collective_srate = 0
set roll_accel_limit = 0
set pitch_accel_limit = 0
set yaw_accel_limit = 0
set collective_accel_limit = 0
set roll_level_expo = 0
set pitch_level_expo = 0
set roll_response = 12
set pitch_response = 12
set yaw_response = 4
set collective_response = 2
set cyclic_ring = 0
set setpoint_boost_gain = 10,10,60,0
set setpoint_boost_cutoff = 15,15,90,15
set yaw_dynamic_ceiling_gain = 20
set yaw_dynamic_deadband_gain = 25
set yaw_dynamic_deadband_filter = 60
set yaw_dynamic_deadband_cutoff = 50

rateprofile 2

# rateprofile 2
set rateprofile_name = -
set rates_type = RACEFLIGHT
set quickrates_rc_expo = OFF
set roll_rc_rate = 35
set pitch_rc_rate = 35
set yaw_rc_rate = 63
set collective_rc_rate = 48
set roll_expo = 20
set pitch_expo = 20
set yaw_expo = 50
set collective_expo = 0
set roll_srate = 0
set pitch_srate = 0
set yaw_srate = 0
set collective_srate = 0
set roll_accel_limit = 0
set pitch_accel_limit = 0
set yaw_accel_limit = 0
set collective_accel_limit = 0
set roll_level_expo = 0
set pitch_level_expo = 0
set roll_response = 12
set pitch_response = 12
set yaw_response = 4
set collective_response = 2
set cyclic_ring = 0
set setpoint_boost_gain = 10,10,60,0
set setpoint_boost_cutoff = 15,15,90,15
set yaw_dynamic_ceiling_gain = 20
set yaw_dynamic_deadband_gain = 25
set yaw_dynamic_deadband_filter = 60
set yaw_dynamic_deadband_cutoff = 50


# restore original rateprofile selection
rateprofile 0

# save configuration
save
#