Alors là j'ai pas compris, mais purée, ça vole bien !! 2:05 : jamais réussi à faire ça avec un Whoop avant aujourd'hui =D

Bref, à force de triturer les settings, on sait plus où on en est, mais des fois, c'est TOP !

Diff du moment : 
# diff

# version
# Betaflight / OMNIBUSF4SD (OBSD) 3.5.7 Mar 15 2019 / 22:11:36 (e9130527c) MSP API: 1.40

board_name OMNIBUSF4SD
manufacturer_id 

# name
name GrOhm

# resources

# mixer

# servo

# servo mix


# feature
feature -RX_PARALLEL_PWM
feature RX_SERIAL
feature AIRMODE

# beeper

# beacon
beacon RX_SET

# map
map TAER1234

# serial
serial 0 64 115200 57600 0 115200
serial 5 2048 115200 57600 0 115200

# led

# color

# mode_color

# aux
aux 0 0 0 1700 2100 0 0
aux 1 1 1 1300 1700 0 0
aux 2 2 1 1700 2100 0 0
aux 3 35 3 1700 2100 0 0

# adjrange

# rxrange
rxrange 0 987 2011
rxrange 1 987 2011
rxrange 2 987 2011
rxrange 3 987 2011

# vtx

# rxfail

# master
set mag_hardware = NONE
set baro_hardware = NONE
set rssi_channel = 16
set fpv_mix_degrees = 35
set serialrx_provider = SBUS
set blackbox_device = NONE
set dshot_idle_value = 650
set motor_pwm_protocol = DSHOT300
set vbat_min_cell_voltage = 29
set vbat_warning_cell_voltage = 30
set current_meter = VIRTUAL
set ibatv_scale = 90
set ibatv_offset = 29
set yaw_motors_reversed = ON
set small_angle = 180
set pid_process_denom = 1
set osd_vbat_pos = 2433
set osd_rssi_pos = 2242
set osd_tim_2_pos = 2455
set osd_remaining_time_estimate_pos = 233
set osd_flymode_pos = 2425
set osd_crosshairs_pos = 2253
set osd_mah_drawn_pos = 2392
set osd_craft_name_pos = 2442
set osd_avg_cell_voltage_pos = 2401
set vtx_band = 5
set vtx_power = 2
set vtx_freq = 5658
set vcd_video_system = NTSC
set rcdevice_init_dev_attempts = 4

# profile
profile 0

set dterm_notch_cutoff = 0
set vbat_pid_gain = ON
set anti_gravity_gain = 2000
set iterm_relax = RP
set iterm_limit = 500
set pidsum_limit = 1000
set pidsum_limit_yaw = 1000
set p_pitch = 75
set i_pitch = 70
set d_pitch = 45
set f_pitch = 96
set p_roll = 75
set i_roll = 70
set d_roll = 45
set f_roll = 96
set i_yaw = 60
set f_yaw = 100

# rateprofile
rateprofile 0

set roll_srate = 78
set pitch_srate = 78
set yaw_srate = 78