Entering CLI Mode, type 'exit' to return, or 'help'

# 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 10 100 0 -1

# servo

# safehome

# feature
feature -AIRMODE
feature -OSD
feature GPS
feature RSSI_ADC
feature LED_STRIP
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 115200 0 115200

# led
led 0 7,0::CI:2
led 1 6,0::AO:2
led 2 5,0::AO:2
led 3 4,0:N:FON:2
led 4 3,0:N:FON:6
led 5 2,0::AO:2
led 6 1,0::AO:2
led 7 0,0::CI:2

# color

# mode_color
mode_color 0 0 2
mode_color 0 1 6
mode_color 0 2 9
mode_color 5 0 6
mode_color 5 1 9
mode_color 5 2 12
mode_color 6 0 2
mode_color 6 1 6

# aux

# adjrange

# rxrange

# temp_sensor

# wp
#wp 0 invalid

# osd_layout

# logic
logic 2 0 1 0 0 0 0 0 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 dynamic_gyro_notch_mode = 3D
set setpoint_kalman_q = 200
set gyro_zero_x = 5
set gyro_zero_y = -1
set gyro_zero_z = 3
set ins_gravity_cmss =  985.629
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 opflow_scale =  10.698
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 motor_pwm_protocol = STANDARD
set failsafe_off_delay = 100
set failsafe_procedure = DROP
set align_board_roll = 36
set vbat_scale = 200
set current_meter_scale = 50
set current_meter_offset = 1000
set model_preview_type = 3
set applied_defaults = 2
set gps_provider = UBLOX7
set gps_ublox_use_galileo = ON
set airmode_type = THROTTLE_THRESHOLD
set nav_auto_speed = 56
set nav_max_auto_speed = 56
set nav_manual_speed = 56
set nav_min_rth_distance = 100
set nav_rth_climb_first = OFF
set nav_rth_alt_mode = CURRENT
set nav_rth_altitude = 200
set nav_mc_bank_angle = 35

# 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 = 30
set mc_d_level = 65
set max_angle_inclination_rll = 350
set max_angle_inclination_pit = 350
set dterm_lpf_hz = 80
set dterm_lpf_type = PT3
set nav_mc_pos_xy_p = 26
set nav_mc_vel_xy_p = 18
set nav_mc_vel_xy_i = 16
set mc_iterm_relax = RPY
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 = 95
set rc_yaw_expo = 75
set roll_rate = 72
set pitch_rate = 72
set yaw_rate = 60
set manual_rc_expo = 75
set manual_rc_yaw_expo = 30
set manual_roll_rate = 50
set manual_pitch_rate = 50
set manual_yaw_rate = 50

# battery_profile
battery_profile 1

set bat_cells = 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

#