diff all

# version
# INAV/SYNERDUINOSTM_F405 7.1.2 Dec  5 2024 / 16:52:12 (GITDIR-N)
# GCC-10.3.1 20210824 (release)

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# Timer overrides

# Outputs [servo]

# safehome

# Fixed Wing Approach
fwapproach 10 6000 500 0 0 0 0

# features
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

# Receiver: Channel map

# Ports
serial 3 2 115200 57600 0 115200

# LEDs

# LED color

# LED mode_color

# Modes [aux]
aux 0 0 1 1700 2100
aux 1 1 1 1700 2100
aux 2 3 0 1325 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]

# Programming: logic
logic 0 1 -1 18 0 0 1 4 0
logic 1 1 -1 18 0 1 1 9 0
logic 2 1 -1 18 0 2 1 5 0
logic 3 1 -1 18 0 3 1 6 0
logic 4 1 -1 1 1 10 0 2000 0
logic 5 1 -1 1 1 9 0 2000 0
logic 6 1 -1 1 1 5 0 2000 0
logic 7 1 -1 1 1 6 0 2000 0
logic 8 1 5 19 0 4 0 5 0
logic 9 1 -1 2 5 4 0 1000 0
logic 10 1 -1 1 1 9 0 1000 0
logic 11 1 10 18 0 4 0 0 0
logic 12 1 -1 2 5 4 0 100 0
logic 13 1 -1 2 5 4 0 200 0
logic 14 1 -1 2 5 4 0 300 0
logic 15 1 -1 2 5 4 0 400 0
logic 16 1 -1 2 5 4 0 500 0
logic 17 1 -1 2 5 4 0 600 0
logic 18 1 12 38 0 6 0 2000 0
logic 19 1 13 38 0 5 0 1500 0
logic 20 1 14 38 0 4 0 1760 0
logic 21 1 15 38 0 4 0 1500 0
logic 22 1 16 38 0 5 0 2000 0
logic 23 0 17 0 0 0 0 0 0

# Programming: global variables

# Programming: PID controllers

# OSD: custom elements

# master
set gyro_main_lpf_hz = 50
set gyro_zero_x = 1
set gyro_zero_y = -3
set gyro_zero_z = -7
set ins_gravity_cmss =  966.450
set acc_hardware = BMI160
set acczero_x = 307
set acczero_y = 229
set acczero_z = -132
set accgain_x = 4090
set accgain_y = 4111
set accgain_z = 4092
set align_mag = CW270FLIP
set mag_hardware = HMC5883
set magzero_x = 111
set magzero_y = -71
set magzero_z = 38
set maggain_x = 382
set maggain_y = 388
set maggain_z = 341
set align_mag_yaw = 1800
set baro_hardware = BMP280
set serialrx_provider = IBUS
set motor_pwm_protocol = STANDARD
set applied_defaults = 5
set gps_provider = UBLOX7
set gps_ublox_use_beidou = ON

# mixer_profile
mixer_profile 1

set model_preview_type = 3

# 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

# mixer_profile
mixer_profile 2


# Mixer: motor mixer

# Mixer: servo mixer

# profile
profile 1

set tpa_rate = 20
set tpa_breakpoint = 1200
set rc_expo = 75
set rc_yaw_expo = 75
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60

# profile
profile 2

set mc_p_pitch = 25
set mc_i_pitch = 20
set mc_d_pitch = 29
set mc_cd_pitch = 35
set mc_p_roll = 26
set mc_i_roll = 19
set mc_d_roll = 29
set mc_cd_roll = 35
set dterm_lpf_hz = 118
set nav_mc_pos_xy_p = 50
set nav_mc_vel_xy_p = 30
set thr_expo = 50
set rc_expo = 67
set rc_yaw_expo = 67
set roll_rate = 57
set pitch_rate = 57
set yaw_rate = 47

# profile
profile 3


# battery_profile
battery_profile 1


# battery_profile
battery_profile 2


# battery_profile
battery_profile 3


# restore original profile selection
mixer_profile 1
profile 2
battery_profile 1

# save configuration
save

#