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

# diff

# version
# INAV/SYNERDUINOSTMSV 6.0.0 Apr  2 2023 / 19:40:20 (GITDIR-N)
# GCC-10.2.1 20201103 (release)

# start the command batch
batch start

# resources

# Mixer: motor 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

# Mixer: servo mixer
smix reset

smix 0 1 10 100 0 -1

# Outputs [servo]

# safehome

# features
feature -AIRMODE
feature -OSD
feature GPS
feature RSSI_ADC
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

# Receiver: Channel map
map TAER

# Ports
serial 0 1 115200 115200 115200 115200
serial 30 2 115200 57600 0 115200

# LEDs

# LED color
color 0 180,0,255
color 1 210,0,255
color 2 240,0,255
color 3 270,0,255
color 4 300,0,255
color 5 330,0,255
color 6 0,0,0
color 7 0,0,0
color 8 0,0,0
color 9 0,0,0
color 10 0,0,0
color 11 0,0,0
color 12 0,0,0
color 13 0,0,0

# LED mode_color
mode_color 0 0 2
mode_color 0 1 6
mode_color 0 2 9
mode_color 0 3 3
mode_color 0 4 2
mode_color 0 5 6
mode_color 1 0 1
mode_color 1 1 0
mode_color 1 2 0
mode_color 1 3 2
mode_color 1 4 3
mode_color 1 5 6
mode_color 2 0 0
mode_color 2 1 0
mode_color 2 2 0
mode_color 2 3 0
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

# Modes [aux]
aux 0 0 0 1400 2050
aux 1 1 0 1400 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]
osd_layout 0 140 23 0 H
osd_layout 0 141 12 0 H
osd_layout 0 142 0 0 H
osd_layout 0 143 8 6 H
osd_layout 1 0 8 6 H
osd_layout 1 1 23 8 H
osd_layout 1 2 23 9 H
osd_layout 1 3 13 12 H
osd_layout 1 4 20 2 H
osd_layout 1 5 1 2 H
osd_layout 1 6 8 6 H
osd_layout 1 7 2 3 H
osd_layout 1 8 1 4 H
osd_layout 1 9 23 1 H
osd_layout 1 10 0 11 H
osd_layout 1 11 1 0 H
osd_layout 1 12 2 10 H
osd_layout 1 13 2 11 H
osd_layout 1 14 2 12 H
osd_layout 1 15 15 1 H
osd_layout 1 16 18 12 H
osd_layout 1 17 0 12 H
osd_layout 1 18 14 11 H
osd_layout 1 19 1 1 H
osd_layout 1 20 12 2 H
osd_layout 1 21 23 5 H
osd_layout 1 22 24 7 H
osd_layout 1 23 3 5 H
osd_layout 1 24 23 11 H
osd_layout 1 25 23 12 H
osd_layout 1 26 1 13 H
osd_layout 1 27 0 10 H
osd_layout 1 28 12 1 H
osd_layout 1 29 6 2 H
osd_layout 1 30 18 2 H
osd_layout 1 31 1 5 H
osd_layout 1 32 1 5 H
osd_layout 1 33 1 6 H
osd_layout 1 34 1 7 H
osd_layout 1 36 1 2 H
osd_layout 1 37 1 8 H
osd_layout 1 39 0 0 H
osd_layout 1 40 0 0 H
osd_layout 1 41 0 0 H
osd_layout 1 42 3 6 H
osd_layout 1 43 3 7 H
osd_layout 1 44 23 7 H
osd_layout 1 45 23 6 H
osd_layout 1 46 0 0 H
osd_layout 1 47 12 2 H
osd_layout 1 48 12 2 H
osd_layout 1 49 12 1 H
osd_layout 1 50 12 1 H
osd_layout 1 51 1 8 H
osd_layout 1 52 2 12 H
osd_layout 1 53 2 12 H
osd_layout 1 54 2 12 H
osd_layout 1 55 2 12 H
osd_layout 1 58 2 10 H
osd_layout 1 59 2 11 H
osd_layout 1 62 2 12 H
osd_layout 1 63 2 12 H
osd_layout 1 74 0 0 H
osd_layout 1 78 2 12 H
osd_layout 1 81 23 1 H
osd_layout 1 82 19 2 H
osd_layout 1 83 19 3 H
osd_layout 1 84 19 4 H
osd_layout 1 85 19 5 H
osd_layout 1 86 19 6 H
osd_layout 1 87 19 7 H
osd_layout 1 88 19 8 H
osd_layout 1 89 19 9 H
osd_layout 1 90 19 10 H
osd_layout 1 91 19 11 H
osd_layout 1 92 0 0 H
osd_layout 1 93 0 12 H
osd_layout 1 94 0 0 H
osd_layout 1 95 0 0 H
osd_layout 1 96 12 4 H
osd_layout 1 97 12 5 H
osd_layout 1 98 12 6 H
osd_layout 1 99 12 7 H
osd_layout 1 100 0 0 H
osd_layout 1 101 3 5 H
osd_layout 1 102 1 2 H
osd_layout 1 103 1 3 H
osd_layout 1 104 2 12 H
osd_layout 1 105 23 12 H
osd_layout 1 106 23 11 H
osd_layout 1 107 24 9 H
osd_layout 1 108 24 10 H
osd_layout 1 109 1 1 H
osd_layout 1 110 1 2 H
osd_layout 1 111 1 3 H
osd_layout 1 112 1 4 H
osd_layout 1 113 0 0 H
osd_layout 1 114 0 0 H
osd_layout 1 115 0 0 H
osd_layout 1 116 0 0 H
osd_layout 1 117 3 4 H
osd_layout 1 118 3 5 H
osd_layout 1 119 3 6 H
osd_layout 1 120 23 2 H
osd_layout 1 121 0 0 H
osd_layout 1 122 0 0 H
osd_layout 1 123 0 0 H
osd_layout 1 124 0 0 H
osd_layout 1 125 0 10 H
osd_layout 1 126 2 7 H
osd_layout 1 127 2 8 H
osd_layout 1 128 2 9 H
osd_layout 1 129 2 10 H
osd_layout 1 130 0 0 H
osd_layout 1 131 0 0 H
osd_layout 1 132 0 0 H
osd_layout 1 133 0 0 H
osd_layout 1 136 23 0 H
osd_layout 1 137 12 0 H
osd_layout 1 139 8 6 H
osd_layout 1 140 8 6 H
osd_layout 1 141 23 8 H
osd_layout 1 142 23 9 H
osd_layout 1 143 13 12 H
osd_layout 2 0 20 2 H
osd_layout 2 1 1 2 H
osd_layout 2 2 8 6 H
osd_layout 2 3 2 3 H
osd_layout 2 4 1 4 H
osd_layout 2 5 23 1 H
osd_layout 2 6 0 11 H
osd_layout 2 7 1 0 H
osd_layout 2 8 2 10 H
osd_layout 2 9 2 11 H
osd_layout 2 10 2 12 H
osd_layout 2 11 15 1 H
osd_layout 2 12 18 12 H
osd_layout 2 13 0 12 H
osd_layout 2 14 14 11 H
osd_layout 2 15 1 1 H
osd_layout 2 16 12 2 H
osd_layout 2 17 23 5 H
osd_layout 2 18 24 7 H
osd_layout 2 19 3 5 H
osd_layout 2 20 23 11 H
osd_layout 2 21 23 12 H
osd_layout 2 22 1 13 H
osd_layout 2 23 0 10 H
osd_layout 2 24 12 1 H
osd_layout 2 25 6 2 H
osd_layout 2 26 18 2 H
osd_layout 2 27 1 5 H
osd_layout 2 28 1 5 H
osd_layout 2 29 1 6 H
osd_layout 2 30 1 7 H
osd_layout 2 31 1 5 H
osd_layout 2 32 1 2 H
osd_layout 2 33 1 8 H
osd_layout 2 34 1 7 H
osd_layout 2 35 0 0 H
osd_layout 2 36 0 0 H
osd_layout 2 37 0 0 H
osd_layout 2 38 3 6 H
osd_layout 2 39 3 7 H
osd_layout 2 40 23 7 H
osd_layout 2 41 23 6 H
osd_layout 2 42 0 0 H
osd_layout 2 43 12 2 H
osd_layout 2 44 12 2 H
osd_layout 2 45 12 1 H
osd_layout 2 46 12 1 H
osd_layout 2 47 1 8 H
osd_layout 2 48 2 12 H
osd_layout 2 49 2 12 H
osd_layout 2 50 2 12 H
osd_layout 2 51 2 12 H
osd_layout 2 52 2 12 H
osd_layout 2 53 2 12 H
osd_layout 2 54 2 10 H
osd_layout 2 55 2 11 H
osd_layout 2 62 2 12 H
osd_layout 2 63 2 12 H
osd_layout 2 70 0 0 H
osd_layout 2 77 23 1 H
osd_layout 2 78 19 2 H
osd_layout 2 79 19 3 H
osd_layout 2 80 19 4 H
osd_layout 2 81 19 5 H
osd_layout 2 82 19 6 H
osd_layout 2 83 19 7 H
osd_layout 2 84 19 8 H
osd_layout 2 85 19 9 H
osd_layout 2 86 19 10 H
osd_layout 2 87 19 11 H
osd_layout 2 88 0 0 H
osd_layout 2 89 0 12 H
osd_layout 2 90 0 0 H
osd_layout 2 91 0 0 H
osd_layout 2 92 12 4 H
osd_layout 2 93 12 5 H
osd_layout 2 94 12 6 H
osd_layout 2 95 12 7 H
osd_layout 2 97 3 5 H
osd_layout 2 98 1 2 H
osd_layout 2 99 1 3 H
osd_layout 2 100 2 12 H
osd_layout 2 101 23 12 H
osd_layout 2 102 23 11 H
osd_layout 2 103 24 9 H
osd_layout 2 104 24 10 H
osd_layout 2 105 1 1 H
osd_layout 2 108 1 4 H
osd_layout 2 109 0 0 H
osd_layout 2 110 0 0 H
osd_layout 2 111 0 0 H
osd_layout 2 112 0 0 H
osd_layout 2 113 3 4 H
osd_layout 2 114 3 5 H
osd_layout 2 115 3 6 H
osd_layout 2 116 23 2 H
osd_layout 2 121 0 10 H
osd_layout 2 122 2 7 H
osd_layout 2 123 2 8 H
osd_layout 2 124 2 9 H
osd_layout 2 125 2 10 H
osd_layout 2 129 0 0 H
osd_layout 2 130 0 0 H
osd_layout 2 131 0 0 H
osd_layout 2 132 23 0 H
osd_layout 2 133 12 0 H
osd_layout 2 135 8 6 H
osd_layout 2 136 8 6 H
osd_layout 2 137 23 8 H
osd_layout 2 138 23 9 H
osd_layout 2 139 13 12 H
osd_layout 2 140 20 2 H
osd_layout 2 141 1 2 H
osd_layout 2 142 8 6 H
osd_layout 2 143 2 3 H
osd_layout 3 0 1 4 H
osd_layout 3 1 23 1 H
osd_layout 3 2 0 11 H
osd_layout 3 3 1 0 H
osd_layout 3 4 2 10 H
osd_layout 3 5 2 11 H
osd_layout 3 6 2 12 H
osd_layout 3 7 15 1 H
osd_layout 3 8 18 12 H
osd_layout 3 9 0 12 H
osd_layout 3 10 14 11 H
osd_layout 3 11 1 1 H
osd_layout 3 12 12 2 H
osd_layout 3 13 23 5 H
osd_layout 3 14 24 7 H
osd_layout 3 15 3 5 H
osd_layout 3 16 23 11 H
osd_layout 3 17 23 12 H
osd_layout 3 18 1 13 H
osd_layout 3 19 0 10 H
osd_layout 3 20 12 1 H
osd_layout 3 21 6 2 H
osd_layout 3 22 18 2 H
osd_layout 3 23 1 5 H
osd_layout 3 24 1 5 H
osd_layout 3 25 1 6 H
osd_layout 3 26 1 7 H
osd_layout 3 27 1 5 H
osd_layout 3 28 1 2 H
osd_layout 3 29 1 8 H
osd_layout 3 30 1 7 H
osd_layout 3 31 0 0 H
osd_layout 3 32 0 0 H
osd_layout 3 33 0 0 H
osd_layout 3 34 3 6 H
osd_layout 3 35 3 7 H
osd_layout 3 36 23 7 H
osd_layout 3 37 23 6 H
osd_layout 3 38 0 0 H
osd_layout 3 39 12 2 H
osd_layout 3 40 12 2 H
osd_layout 3 41 12 1 H
osd_layout 3 42 12 1 H
osd_layout 3 43 1 8 H
osd_layout 3 44 2 12 H
osd_layout 3 45 2 12 H
osd_layout 3 46 2 12 H
osd_layout 3 47 2 12 H
osd_layout 3 48 2 12 H
osd_layout 3 49 2 12 H
osd_layout 3 50 2 10 H
osd_layout 3 51 2 11 H
osd_layout 3 52 2 12 H
osd_layout 3 53 2 12 H
osd_layout 3 54 2 12 H
osd_layout 3 55 2 12 H
osd_layout 3 62 2 12 H
osd_layout 3 63 2 12 H
osd_layout 3 66 0 0 H
osd_layout 3 73 23 1 H
osd_layout 3 74 19 2 H
osd_layout 3 75 19 3 H
osd_layout 3 76 19 4 H
osd_layout 3 77 19 5 H
osd_layout 3 78 19 6 H
osd_layout 3 79 19 7 H
osd_layout 3 80 19 8 H
osd_layout 3 81 19 9 H
osd_layout 3 82 19 10 H
osd_layout 3 83 19 11 H
osd_layout 3 84 0 0 H
osd_layout 3 85 0 12 H
osd_layout 3 86 0 0 H
osd_layout 3 87 0 0 H
osd_layout 3 88 12 4 H
osd_layout 3 89 12 5 H
osd_layout 3 90 12 6 H
osd_layout 3 91 12 7 H
osd_layout 3 92 0 0 H
osd_layout 3 93 3 5 H
osd_layout 3 94 1 2 H
osd_layout 3 95 1 3 H
osd_layout 3 96 2 12 H
osd_layout 3 97 23 12 H
osd_layout 3 98 23 11 H
osd_layout 3 99 24 9 H
osd_layout 3 100 24 10 H
osd_layout 3 101 1 1 H
osd_layout 3 102 1 2 H
osd_layout 3 103 1 3 H
osd_layout 3 104 1 4 H
osd_layout 3 105 0 0 H
osd_layout 3 106 0 0 H
osd_layout 3 107 0 0 H
osd_layout 3 108 0 0 H
osd_layout 3 109 3 4 H
osd_layout 3 110 3 5 H
osd_layout 3 111 3 6 H
osd_layout 3 112 23 2 H
osd_layout 3 113 0 0 H
osd_layout 3 114 0 0 H
osd_layout 3 115 0 0 H
osd_layout 3 116 0 0 H
osd_layout 3 117 0 10 H
osd_layout 3 118 2 7 H
osd_layout 3 119 2 8 H
osd_layout 3 120 2 9 H
osd_layout 3 121 2 10 H
osd_layout 3 122 0 0 H
osd_layout 3 123 0 0 H
osd_layout 3 124 0 0 H

# Programming: logic
logic 0 1 -1 18 0 0 2 4 0
logic 1 1 -1 18 0 1 2 6 0
logic 2 1 -1 2 5 0 0 100 0
logic 3 1 0 38 0 8 0 200 0

# Programming: global variables

# Programming: PID controllers

# master
set looptime = 500
set gyro_main_lpf_hz = 110
set gyro_main_lpf_type = PT1
set gyro_use_dyn_lpf = ON
set gyro_dyn_lpf_min_hz = 85
set gyro_dyn_lpf_max_hz = 300
set gyro_dyn_lpf_curve_expo = 3
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 =  985.422
set vbat_adc_channel = 1
set current_adc_channel = 2
set airspeed_adc_channel = 4
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 =  10.695
set align_mag = CW270FLIP
set mag_hardware = HMC5883
set magzero_x = -175
set magzero_y = -308
set magzero_z = 278
set maggain_x = 378
set maggain_y = 371
set maggain_z = 326
set align_mag_pitch = 3600
set align_mag_yaw = 1800
set baro_hardware = BMP085
set rssi_source = ADC
set rssi_channel = 15
set rx_min_usec = 790
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 = 100
set current_meter_scale = 10000
set current_meter_offset = -1000
set model_preview_type = 3
set applied_defaults = 2
set gps_provider = UBLOX7
set gps_sbas_mode = AUTO
set gps_dyn_model = PEDESTRIAN
set airmode_type = THROTTLE_THRESHOLD
set nav_auto_speed = 83
set nav_max_auto_speed = 83
set nav_auto_climb_rate = 70
set nav_manual_speed = 83
set nav_manual_climb_rate = 70
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
set nav_mc_braking_speed_threshold = 42
set nav_mc_braking_disengage_speed = 28

# profile
profile 1

set mc_p_pitch = 35
set mc_i_pitch = 27
set mc_d_pitch = 6
set mc_cd_pitch = 16
set mc_p_roll = 35
set mc_i_roll = 26
set mc_d_roll = 6
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 = 20
set nav_mc_vel_xy_p = 16
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

#