Naze32 Flight Controller

This is a flight controller (FC) for multirotors and planes. It is based on the STM32 32-bit ARM Cortex MCU. The price is also relatively low compared to other FCs.

Software

• BaseFlight - Chrome based app for upgrading the firmware and configuration

Settings

• RC Expo (0.0 to 1.0) - Like TX Expo on stick input vs RC output curve, can be used in addition to or in place of TX Expo (0.65 default)
• RC Rate (0.0 to 3..) - Increases stick sensitivity of requested axis roll and pitch rates, 1 is normal and increasing it makes any stick input command more gyro roll or pitch rate. Works like increasing TX throws on both channels (0.9 default)
• Pitch/Roll Rate (0.0 to 1.0) - Attenuates the P value for pitch and roll as stick is moved away from center, making rolls and flips faster - 0 means linear/same P over the stick range, while 1.0 means no P loop corrections at full stick (totally unstable!) - a kind of super expo
• Yaw Rate (0.0 to 1.0) Attenuates P value for yaw as stick is moved away from center, making pirouettes faster - 0 means same P over the stick range, 1.0 means no P loop corrections at full stick (totally unstable!)
• TPA - Throttle PID Attenuation (0.0 to 1.0) - Decreases roll/pitch P value above 50% throttle - 0 means same P over the throttle range, 1.0 means reduction to zero, not very useful except in planes where faster, sometimes create oscillations due to increased control surface effectiveness, in a quad it will make it unstable as you punch the throttle but a slight (0.2-0.4) TPA could eliminate punch-out oscillations (0.0 default)
• looptime (750 to 3500) - Sets the sensor sampling time in micro seconds (uS) and dictates the update rate of the PID loop. A low looptime should make the multirotor more sensitive and responsive, but more affected by vibrations. There is a limit, once you go over the limit it will have negative effect. (3500 default) - in BaseFlight use set looptime = 3500 to change the value.