# diff # version # INAV/SYNERDUINOSTMSV 6.0.0 Dec 14 2022 / 14:20:05 (GITDIR-N) # GCC-10.2.1 20201103 (release) # start the command batch batch start # resources # mixer mmix reset mmix 0 1.000 -1.000 1.000 -1.000 mmix 1 1.000 -1.000 -1.000 1.000 mmix 2 1.000 1.000 1.000 1.000 mmix 3 1.000 1.000 -1.000 -1.000 # servo mixer smix reset smix 0 1 9 100 0 -1 # servo # safehome # feature feature -AIRMODE feature -OSD feature GPS feature PWM_OUTPUT_ENABLE # beeper # blackbox blackbox -NAV_ACC blackbox NAV_POS blackbox NAV_PID blackbox MAG blackbox ACC blackbox ATTI blackbox RC_DATA blackbox RC_COMMAND blackbox MOTORS blackbox -GYRO_RAW blackbox -PEAKS_R blackbox -PEAKS_P blackbox -PEAKS_Y # map map TAER # serial serial 30 2 115200 57600 0 115200 # led led 0 7,0::CI:2 led 1 6,0::A:2 led 2 5,0::A:2 led 3 4,0:S:FO:2 led 4 3,0:S:FO:2 led 5 2,0::A:2 led 6 1,0::A:2 led 7 0,0::CI:2 # color # mode_color mode_color 0 1 5 mode_color 0 2 9 mode_color 6 0 2 mode_color 6 1 6 # aux aux 0 0 0 1700 2100 aux 1 1 0 1700 2100 aux 2 11 1 1300 1700 aux 3 3 1 1300 1700 # adjrange # rxrange # temp_sensor # wp #wp 0 invalid # osd_layout # logic logic 0 1 -1 18 0 1 2 15 0 logic 1 1 -1 2 5 1 0 10 0 logic 2 1 1 38 0 6 0 200 0 # global vars # programmable pid controllers # master set looptime = 500 set gyro_main_lpf_hz = 110 set gyro_main_lpf_type = PT1 set dynamic_gyro_notch_q = 250 set dynamic_gyro_notch_min_hz = 120 set setpoint_kalman_q = 200 set gyro_zero_x = 6 set gyro_zero_z = 2 set ins_gravity_cmss = 981.899 set acc_hardware = BMI160 set acczero_x = 167 set acczero_y = -41 set acczero_z = 36 set accgain_x = 4081 set accgain_y = 4074 set accgain_z = 4267 set align_mag = CW270FLIP set mag_hardware = HMC5883 set magzero_x = -86 set magzero_y = -224 set magzero_z = 328 set maggain_x = 421 set maggain_y = 414 set maggain_z = 347 set align_mag_pitch = 3600 set align_mag_yaw = 1800 set baro_hardware = BMP085 set blackbox_rate_denom = 2 set blackbox_device = SPIFLASH set motor_pwm_protocol = STANDARD set failsafe_off_delay = 100 set align_board_roll = 36 set model_preview_type = 3 set applied_defaults = 2 set gps_provider = UBLOX7 set airmode_type = THROTTLE_THRESHOLD # profile profile 1 set mc_p_pitch = 17 set mc_i_pitch = 26 set mc_d_pitch = 5 set mc_cd_pitch = 16 set mc_p_roll = 17 set mc_i_roll = 25 set mc_d_roll = 5 set mc_cd_roll = 16 set mc_p_yaw = 35 set mc_i_yaw = 80 set mc_p_level = 25 set dterm_lpf_type = PT3 set nav_mc_pos_xy_p = 46 set d_boost_min = 0.800 set d_boost_max = 1.200 set antigravity_gain = 2.000 set antigravity_accelerator = 5.000 set smith_predictor_delay = 1.500 set tpa_rate = 20 set tpa_breakpoint = 1200 set rc_expo = 85 set rc_yaw_expo = 75 set roll_rate = 72 set pitch_rate = 72 set yaw_rate = 60 # battery_profile battery_profile 1 set throttle_idle = 4.000 set failsafe_throttle = 1200 set nav_mc_hover_thr = 1400 # save configuration save # end the command batch batch end