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UR65 v1
patrick j. clarke
A LITTLE HISTORY
Brushless Whoops are a relatively new thing, and before the UR65 came out, it was hit or miss
(mostly miss) on finding a good traditional 31mm Whoop sized brushless that flew well. One of
the pioneers is Steven Merrell, and he’s the reason I got into brushless Whoops. He custom
built my first brushless and I was amazed at how well it flew. I then added some custom
Mockingbird settings and loved what I was flying. So, when the UR65 came out, on paper it
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looked a lot like one of Steven’s builds, and with some tweaking, it really is a great flying Whoop
for racing and freestyle
A lot of the original Project Mockingbird setup is owed to Scott Allyn from the MMW community
as he was the first one I am of aware of to try to do this and got a lot of the basics figured out.
But Betaflight Angle mode, slow PPM Betaflight FC’s and filtering just wasn’t that great back
then, and it’s only really been since 3.2.2 and above that I’ve noticed it’s gotten A LOT better for
Whoops.
OVERVIEW
This setup is optimized for the stock UR65 and the lightened versions I run. I will cover stock
settings for all of them and also list some of the upgrades I’ve done to make this little quad fly
even better.
A little bit about Butterflight. I haven’t included Butterflight settings yet, but when the
CrazyBee F3 target is updated so that it works, I will add Butterflight here as well and I love
how it flies on my Whoops!
K1nslayer - He discovered the old code for “Throttle Mapping” in Betaflight and did some initial
tests with brushed motors
Nick Burns - He was one of the first reviewers that had a proper tune for the UR65, and
although we both came up with our own independent PIDs, they were close and it reaffirmed my
settings. :)
THE SETUP
Step One - BLHELI Suite Setup
This is step one of going “props out” on a brushless build. If you’ve never used BLHELI, it can
be a little scary as you need to plug in a battery to flash the firmware of the ESC’s. Of course,
BE CAREFUL AND REMOVE PROPS before doing this. Once we reverse the ESC direction of
each, then we’ll complete the props out selection in Betaflight.
● Update to 16.7 for Turtle Mode
● Reverse motor direction on each ESC for Props out configuration
● Set Startup Power=1
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CONFIGURATION - SECTION 1
● MIXER
○ I run “props out” and it helps with cornering in Whoops. This is why you reverse
motor direction in BLHELI
● ESC/Motor Features
○ ESC/Motor Protocol - Set to DSHOT 300 - This, along with BLHELI 16.7 let you
do Turtle Mode
○ Motor Stop - Turn this off. I use Idle Up on Angle Mode so I want the motors
spinning when armed
○ Motor Idle Throttle Value - Set to 5.09. This is also for my Idle Up settings so that
when I arm the motors spin up
● System configuration
○ Set 8k for Gyro Update
○ Set 2k for PID Loop Frequency
■ These are the max you can run for Turtle Mode and D8
○ Turn Accelerometer on so you can do Angle Mode
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CONFIGURATION - SECTION 2
● Arming - Set to 180 so you can arm at any angle in Angle Mode
● Camera - Set to 10 for 30 tilt, set to 8 for 20 tilt. This feature usually matches your
camera tilt angle but for Angle Racing, having it less than half your camera angle seems
about perfect to have more yawthority, but not have it feel too unnatural.
○ EXPLAINED- F or Mockingbird Angle Mode, you don’t want this as strong as your
camera angle. This number correlates with “FPV_Angle_Mix” in in the Modes
tab. It mixes pitch and roll into yaw and makes cornering much better once you
get used to it. This is where your “yawthority” comes into play. You will find that
you will use yaw more than you are used to instead of pitch and roll. If you start
using it your corners will be sharper and flatter so you can keep your speed up.
● Receiver - I use Frsky_D
● Other Features
○ Turn on Telemetry
○ Turn on OSD
○ Turn on Anti-Gravity
○ Turn on Dynamic Filter
○ RX Lost
○ RX Set
○ Crash Flip
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PID
● PIDS: These PIDs have been tested on the stock 17k, and 19k motors and from the
stock UR65 up to the lightened version I’ve built and work great! If you are using the
BetaFPV 16k motors, please see that section for PIDs that work great for it (courtesy of
Steven Merrell)
● RATES: We are going to set up 2 different RATE profiles. One for Acro and one for
Angle. With this setup your rates will change when you switch from Acro to Angle. On
my TX UP is Acro, Middle is Angle, tweak yours as needed.
● VBAT Compensation: ON
● Anti Gravity Gain: 5
● Anti Gravity Threshold: 350
RATEPROFILE 1 (Acro)
ROLL P: 45
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PITCH P: 55
YAW P: 90
ROLL I: 45
PITCH I: 55
YAW I: 45
ROLL D: 40
PITCH D: 45
ROLL/PITCH RC RATE: 1
YAW RC RATE: 1
RATEPROFILE 2 (Angle)
ROLL AND PITCH - These are all set to zero as Roll and Pitch are controlled by Angle Strength
and Angle Limit.
RC Rate: 0
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Super Rate: 0
YAW
RC Rate: 2.07
Super Rate: 0
NOTE: Max Vel may not be exact depending on your “Deadband” settings...just get it close to
615-620
FILTER
● Make Changes as shown below
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MODES
AUX 1: ARM
AUX 2: ACRO, ANGLE, HORIZON and FPV ANGLE MIX (always on)
AUX 3: Up is no Airmode, middle is Airmode, and down is for Turtle Mode
EXPLAINED- I HIGHLY recommend not using Airmode for Angle Mode. It seems to help with
crashing and glancing blows and also seems to help with more power. That’s why I put it on a
switch since I want it on for Acro Mode but some don’t like it for Acro Whooping either.
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ADJUSTMENTS
This is where we will set up a rate profile change upon the user switching from Acro to Angle to
Horizon. So, you can run Acro and have higher rates and super, but when you want to be an
Angle Racer, when you flip your Aux 2 to Angle, the Adjustments tab will change to Rate Profile
2 and you’ll have the more linear Angle Racing rates. NOTE, I have my AUX 2 go UP=Acro,
MID=Angle, DWN=Horizon. So my Adjustments and Profiles match. Change according to how
you have your Mode switch set up.
● Set AUX 2 to match your range for Angle in your Modes tab
● Select “Rate Profile Selection” as your option in “then apply”
● Using “Slot 2” to match the Rate profile of Angle
● Via Channel AUX 2 - this matches your mode switch
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//This is new in Betaflight 3.4 and above and recommended by ctzsnooze the Betaflight
dev who worked on it.//
set rc_interp_ch = RPYT
set rc_smoothing_type = FILTER
//This is to reduce the "bounce" that you can get with airmode when you first arm. I only
use airmode for Acro//
set airmode_start_throttle_percent = 15
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//These two settings replace "Throttle Mixing" in older versions of Mockingbird. This is much
more accurate and in brushed I think it adds more power. The value is the "power" you want
to your pitch and roll (how much throttle is added). Don't change this too much, but I think 3
is about right. You'll find yourself not having to throttle through things as much, you'll just
pitch, roll and yaw and the power will be there.//
set thr_corr_value = 3
set thr_corr_angle = 550
//This is another brushed trick to get more power from the motors. It seems to help in
brushless too//
set throttle_limit_type = CLIP
//This is one from Bryce. If you don’t like how turtle mode is working, then try this. Spins all 4
motors backwards and helps a ton. Test he did when he was working on it. 2 motors vs
4.https://youtu.be/Qwh1MBNnZj4//
set crashflip_motor_percent = 50
DIFF ALL
Hopefully you can just copy and paste this into your CLI and start flying, but it’s probably best to
read and go over the settings above so you can double-check that it all worked.
# DIFF ALL
# Betaflight / CRAZYBEEF3FR (CBFR) 3.4.0 Jul 8 2018 / 04:06:04 (cce8a59be) MSP API: 1.39
board_name CRAZYBEEF3FR
manufacturer_id
mcu_id 0018002e5634570e20353233
defaults nosave
name UR65 MKNGBRD
feature -MOTOR_STOP
beeper -GYRO_CALIBRATED
beeper -RX_LOST
beeper -RX_LOST_LANDING
beeper -DISARMING
beeper -ARMING
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beeper -ARMING_GPS_FIX
beeper -BAT_LOW
beeper -GPS_STATUS
beeper -RX_SET
beeper -ACC_CALIBRATION
beeper -ACC_CALIBRATION_FAIL
beeper -READY_BEEP
beeper -DISARM_REPEAT
beeper -ARMED
beeper -SYSTEM_INIT
beeper -ON_USB
beeper -BLACKBOX_ERASE
beeper -CAM_CONNECTION_OPEN
beeper -CAM_CONNECTION_CLOSED
beacon RX_LOST
map TAER1234
aux 0 0 0 1375 2100 0
aux 1 1 1 1325 1675 0
aux 2 2 1 1700 2100 0
aux 3 28 2 1400 1575 0
aux 4 30 1 900 2100 0
aux 5 35 2 1625 2100 0
adjrange 0 1 1 1425 1575 12 1 0 0
rxrange 0 988 2012
rxrange 1 988 2012
rxrange 2 988 2012
set min_check = 1000
set rc_interp_ch = RPYT
set rc_smoothing_type = FILTER
set fpv_mix_degrees = 10
set airmode_start_throttle_percent = 15
set rx_spi_protocol = FRSKY_D
set dshot_idle_value = 509
set motor_pwm_protocol = DSHOT300
set thr_corr_value = 3
set thr_corr_angle = 550
set bat_capacity = 250
set vbat_max_cell_voltage = 45
set vbat_min_cell_voltage = 28
set vbat_warning_cell_voltage = 30
set yaw_motors_reversed = ON
set small_angle = 180
set osd_vbat_pos = 2115
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profile 2
set dterm_notch_cutoff = 0
set vbat_pid_gain = ON
set dterm_setpoint_weight = 254
set pidsum_limit = 1000
set pidsum_limit_yaw = 1000
set throttle_boost = 8
set p_pitch = 55
set i_pitch = 55
set d_pitch = 45
set p_roll = 45
set d_roll = 40
set p_yaw = 90
set p_level = 105
set i_level = 100
set d_level = 45
profile 2
rateprofile 0
set roll_srate = 80
set pitch_srate = 80
set yaw_srate = 84
rateprofile 1
set roll_rc_rate = 0
set pitch_rc_rate = 0
set yaw_rc_rate = 207
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set roll_srate = 0
set pitch_srate = 0
set yaw_srate = 0
set tpa_rate = 20
set throttle_limit_type = CLIP
rateprofile 2
set roll_srate = 80
set pitch_srate = 80
set yaw_srate = 84
rateprofile 3
rateprofile 4
rateprofile 5
rateprofile 0
save
# DIFF ANNOTATED
//Since I do Idle Up in Angle Mode, I make sure Motor Stop is turned off//
feature -MOTOR_STOP
beeper -SYSTEM_INIT
beeper -ON_USB
beeper -BLACKBOX_ERASE
beeper -CAM_CONNECTION_OPEN
beeper -CAM_CONNECTION_CLOSED
beacon RX_LOST
//This is new in Betaflight 3.4 and above and recommended by ctzsnooze the Betaflight dev who
worked on it.//
set rc_interp_ch = RPYT
set rc_smoothing_type = FILTER
//This is less than half of your camera angle. Mine tilt is 30 degrees and I use 10. This is the
magic parameter that mixes pitch and roll into yaw and makes your turning super sharp. The
lower this number the more you have to mix pitch and roll with yaw//
set fpv_mix_degrees = 10
//This is to reduce the "bounce" that you can get with airmode when you first arm. I only use
airmode for Acro//
set airmode_start_throttle_percent = 15
//They might have fixed D16, but I still recommend using D8//
set rx_spi_protocol = FRSKY_D
//I use this number so that when I use Idle Up, my motors start spinning at zero throttle//
set dshot_idle_value = 509
//These two setting replace "Throttle Mixing" in older versions of Mockingbird. This is much
more accurate and in brushed I think it adds more power. The value is the "power" you want to
your pitch and roll (how much throttle is added). Don't change this too much, but I think 3 is
about right. You'll find yourself not having to throttle through things as much, you'll just pitch, roll
and yaw and the power will be there.//
set thr_corr_value = 3
set thr_corr_angle = 550
//I use 250 and 260 batteries, so I just set this to 255 to be inbetween and it's pretty accurate//
set bat_capacity = 255
set vbat_max_cell_voltage = 45
set vbat_min_cell_voltage = 28
set vbat_warning_cell_voltage = 30
//This is "props out" and I set up all my quads this way. On Whoop sized craft it helps with
cornering. You also have to go into BLHELI Suite and reverse motors there for you stock
UR65//
set yaw_motors_reversed = ON
set dterm_notch_cutoff = 0
//This will make your sticks "snappier". If you find it too twitchy, reduce to 1//
set dterm_setpoint_weight = 254
//p_level is the "Angle Strength" i_level is the "Horizon Strength", and d_level is the "Horizon
Transition"//
set p_level = 105
set i_level = 100
set d_level = 45
//These are my Horizon Rates and are controlled by the Adjustments tab when I switch modes//
rateprofile 0
set roll_srate = 80
set pitch_srate = 80
set yaw_srate = 84
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//These are my Angle Rates and are controlled by the Adjustments tab when I switch modes.
Since Pitch and Roll rates are controlled by "Angle Strength" and "Angle Limit", there is no need
to add rates for anything other than yaw//
rateprofile 1
set roll_rc_rate = 0
set pitch_rc_rate = 0
set yaw_rc_rate = 207
set roll_srate = 0
set pitch_srate = 0
set yaw_srate = 0
//This is another brushed trick to get more power from the motors. It seems to help in brushless
too//
set throttle_limit_type = CLIP
////These are my Acro Rates and are controlled by the Adjustments tab when I switch modes//
rateprofile 2
set roll_srate = 80
set pitch_srate = 80
set yaw_srate = 84
rateprofile 3
Betaflight
You can use Throttle in Betaflight on the PIDs tab, but I only use it on 19k to feel right and don’t
use both the Betaflight AND Radio Curve, just use one.
Throttle Mid: 1.0
Throttle Expo: .95
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UPGRADES
Basic Upgrades to the UR65
If you don’t do anything else or are afraid to mess with too much, these are the basic upgrades
to make the most of the stock UR65
● Eachine Quad Props
● Reducing inner hub of props so they sit on top of motor bell, providing more thrust
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This setup will give you 4 minutes plus flights and will beat most brushed Whoops on an Angle
Racing course. It’s not the best at Acro Freestyle, but you can do basic tricks
● Same as above, but with BetaFPV 16k 0603 motors
○ You get pretty good performance and excellent battery life.
○ NOTE: the BetaFPV motors mount differently on this frame, so just be aware.
With the nylon screws it fits really nice, otherwise you should use the screws that
come with the motors.
○ NOTE: These are 1mm shafts, so you will have to drill out or buy 1mm props
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