diff # version # INAV/SYNERDUINOSTMSV 6.0.0 Jan 10 2023 / 17:26:02 (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 0 1 115200 115200 115200 115200 serial 30 2 115200 57600 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 aux 0 0 0 1300 2050 aux 1 1 0 1300 2100 aux 2 10 0 1700 2100 aux 3 28 1 1300 1700 # adjrange # rxrange # temp_sensor # wp #wp 0 invalid # osd_layout # 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 # 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 = 6 set gyro_zero_z = 3 set ins_gravity_cmss = 981.354 set vbat_adc_channel = 1 set rssi_adc_channel = 3 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 = 10.698 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 rssi_source = ADC 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 airmode_type = THROTTLE_THRESHOLD set nav_disarm_on_landing = ON set nav_auto_speed = 160 set nav_max_auto_speed = 160 set nav_auto_climb_rate = 50 set nav_manual_speed = 100 set nav_manual_climb_rate = 25 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 = 23 set mc_i_pitch = 29 set mc_d_pitch = 5 set mc_cd_pitch = 16 set mc_p_roll = 23 set mc_i_roll = 29 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 = 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 #