diff all

# version
# INAV/SYNERDUINOSTM_F405 9.1.0 Aug 20 2026 / 15:44:49 (GITDIR-N) 
# GCC-13.2.1 20231009

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# Timer overrides

# Outputs [servo]

# safehome

# Fixed Wing Approach

# geozone

# geozone vertices

# features
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
blackbox SERVOS

# Receiver: Channel map

# Ports
serial 5 256 115200 115200 0 115200

# LEDs

# LED color

# LED mode_color
mode_color 6 0 6
mode_color 6 1 10
mode_color 6 2 1
mode_color 6 3 0
mode_color 6 4 0
mode_color 6 5 2
mode_color 7 0 3
mode_color 7 1 6

# Modes [aux]
aux 0 0 255 1700 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]
osd_layout 0 104 0 0 H
osd_layout 0 167 23 0 H
osd_layout 0 168 12 0 H
osd_layout 1 0 0 0 H
osd_layout 1 1 8 6 H
osd_layout 1 2 8 6 H
osd_layout 1 3 23 8 H
osd_layout 1 4 23 9 H
osd_layout 1 5 13 12 H
osd_layout 1 6 20 2 H
osd_layout 1 7 1 2 H
osd_layout 1 8 8 6 H
osd_layout 1 9 2 3 H
osd_layout 1 10 1 4 H
osd_layout 1 11 23 1 H
osd_layout 1 12 0 11 H
osd_layout 1 13 1 0 H
osd_layout 1 14 2 10 H
osd_layout 1 15 2 11 H
osd_layout 1 16 2 12 H
osd_layout 1 17 15 1 H
osd_layout 1 18 18 12 H
osd_layout 1 19 0 12 H
osd_layout 1 20 14 11 H
osd_layout 1 21 1 1 H
osd_layout 1 22 12 2 H
osd_layout 1 23 23 5 H
osd_layout 1 24 24 7 H
osd_layout 1 25 3 5 H
osd_layout 1 26 23 11 H
osd_layout 1 27 23 12 H
osd_layout 1 28 1 13 H
osd_layout 1 29 0 10 H
osd_layout 1 30 12 1 H
osd_layout 1 31 6 2 H
osd_layout 1 32 18 2 H
osd_layout 1 33 1 5 H
osd_layout 1 34 1 5 H
osd_layout 1 35 1 6 H
osd_layout 1 36 1 7 H
osd_layout 1 37 1 5 H
osd_layout 1 38 1 2 H
osd_layout 1 39 1 8 H
osd_layout 1 40 1 7 H
osd_layout 1 41 0 0 H
osd_layout 1 42 0 0 H
osd_layout 1 44 3 6 H
osd_layout 1 45 3 7 H
osd_layout 1 46 23 7 H
osd_layout 1 47 23 6 H
osd_layout 1 48 0 0 H
osd_layout 1 49 12 2 H
osd_layout 1 50 12 2 H
osd_layout 1 51 12 1 H
osd_layout 1 52 12 1 H
osd_layout 1 53 1 8 H
osd_layout 1 54 2 12 H
osd_layout 1 55 2 12 H
osd_layout 1 60 2 10 H
osd_layout 1 61 2 11 H
osd_layout 1 62 2 12 H
osd_layout 1 63 2 12 H
osd_layout 1 76 0 0 H
osd_layout 1 78 2 12 H
osd_layout 1 83 23 1 H
osd_layout 1 84 19 2 H
osd_layout 1 85 19 3 H
osd_layout 1 86 19 4 H
osd_layout 1 87 19 5 H
osd_layout 1 88 19 6 H
osd_layout 1 89 19 7 H
osd_layout 1 90 19 8 H
osd_layout 1 91 19 9 H
osd_layout 1 92 19 10 H
osd_layout 1 93 19 11 H
osd_layout 1 94 0 0 H
osd_layout 1 95 0 12 H
osd_layout 1 97 0 0 H
osd_layout 1 98 12 4 H
osd_layout 1 99 12 5 H
osd_layout 1 100 12 6 H
osd_layout 1 101 12 7 H
osd_layout 1 102 0 0 H
osd_layout 1 103 3 5 H
osd_layout 1 104 1 2 H
osd_layout 1 105 1 3 H
osd_layout 1 106 2 12 H
osd_layout 1 107 23 12 H
osd_layout 1 108 23 10 H
osd_layout 1 109 24 9 H
osd_layout 1 110 24 10 H
osd_layout 1 111 1 1 H
osd_layout 1 112 1 2 H
osd_layout 1 113 1 3 H
osd_layout 1 114 1 4 H
osd_layout 1 115 0 0 H
osd_layout 1 116 0 0 H
osd_layout 1 119 3 4 H
osd_layout 1 120 3 5 H
osd_layout 1 121 3 6 H
osd_layout 1 122 23 2 H
osd_layout 1 123 0 0 H
osd_layout 1 124 0 0 H
osd_layout 1 127 0 10 H
osd_layout 1 128 2 7 H
osd_layout 1 129 2 8 H
osd_layout 1 130 2 9 H
osd_layout 1 131 2 10 H
osd_layout 1 132 0 0 H
osd_layout 1 133 0 0 H
osd_layout 1 138 12 3 H
osd_layout 1 139 12 3 H
osd_layout 1 140 20 3 H
osd_layout 1 141 0 0 H
osd_layout 1 142 1 4 H
osd_layout 1 143 1 3 H
osd_layout 1 144 20 3 H
osd_layout 1 145 0 0 H
osd_layout 1 146 0 0 H
osd_layout 1 148 2 7 H
osd_layout 1 149 2 8 H
osd_layout 1 150 2 10 H
osd_layout 1 151 0 0 H
osd_layout 1 152 0 0 H
osd_layout 1 157 23 11 H
osd_layout 1 158 24 11 H
osd_layout 1 159 24 12 H
osd_layout 1 160 24 13 H
osd_layout 1 161 0 0 H
osd_layout 1 162 0 0 H
osd_layout 1 165 23 0 H
osd_layout 1 166 12 0 H
osd_layout 1 168 8 6 H
osd_layout 2 0 8 6 H
osd_layout 2 1 23 8 H
osd_layout 2 2 23 9 H
osd_layout 2 3 13 12 H
osd_layout 2 4 20 2 H
osd_layout 2 5 1 2 H
osd_layout 2 6 8 6 H
osd_layout 2 7 2 3 H
osd_layout 2 8 1 4 H
osd_layout 2 9 23 1 H
osd_layout 2 10 0 11 H
osd_layout 2 11 1 0 H
osd_layout 2 12 2 10 H
osd_layout 2 13 2 11 H
osd_layout 2 14 2 12 H
osd_layout 2 15 15 1 H
osd_layout 2 16 18 12 H
osd_layout 2 17 0 12 H
osd_layout 2 18 14 11 H
osd_layout 2 19 1 1 H
osd_layout 2 20 12 2 H
osd_layout 2 21 23 5 H
osd_layout 2 22 24 7 H
osd_layout 2 23 3 5 H
osd_layout 2 24 23 11 H
osd_layout 2 25 23 12 H
osd_layout 2 26 1 13 H
osd_layout 2 27 0 10 H
osd_layout 2 28 12 1 H
osd_layout 2 29 6 2 H
osd_layout 2 30 18 2 H
osd_layout 2 31 1 5 H
osd_layout 2 32 1 5 H
osd_layout 2 33 1 6 H
osd_layout 2 34 1 7 H
osd_layout 2 36 1 2 H
osd_layout 2 37 1 8 H
osd_layout 2 39 0 0 H
osd_layout 2 40 0 0 H
osd_layout 2 41 0 0 H
osd_layout 2 42 3 6 H
osd_layout 2 43 3 7 H
osd_layout 2 44 23 7 H
osd_layout 2 45 23 6 H
osd_layout 2 46 0 0 H
osd_layout 2 47 12 2 H
osd_layout 2 48 12 2 H
osd_layout 2 49 12 1 H
osd_layout 2 50 12 1 H
osd_layout 2 51 1 8 H
osd_layout 2 52 2 12 H
osd_layout 2 53 2 12 H
osd_layout 2 54 2 12 H
osd_layout 2 55 2 12 H
osd_layout 2 58 2 10 H
osd_layout 2 59 2 11 H
osd_layout 2 62 2 12 H
osd_layout 2 63 2 12 H
osd_layout 2 74 0 0 H
osd_layout 2 78 2 12 H
osd_layout 2 81 23 1 H
osd_layout 2 82 19 2 H
osd_layout 2 83 19 3 H
osd_layout 2 84 19 4 H
osd_layout 2 85 19 5 H
osd_layout 2 86 19 6 H
osd_layout 2 87 19 7 H
osd_layout 2 88 19 8 H
osd_layout 2 89 19 9 H
osd_layout 2 90 19 10 H
osd_layout 2 91 19 11 H
osd_layout 2 92 0 0 H
osd_layout 2 93 0 12 H
osd_layout 2 94 0 0 H
osd_layout 2 95 0 0 H
osd_layout 2 96 12 4 H
osd_layout 2 97 12 5 H
osd_layout 2 98 12 6 H
osd_layout 2 99 12 7 H
osd_layout 2 100 0 0 H
osd_layout 2 101 3 5 H
osd_layout 2 102 1 2 H
osd_layout 2 103 1 3 H
osd_layout 2 104 2 12 H
osd_layout 2 105 23 12 H
osd_layout 2 106 23 10 H
osd_layout 2 107 24 9 H
osd_layout 2 108 24 10 H
osd_layout 2 109 1 1 H
osd_layout 2 110 1 2 H
osd_layout 2 111 1 3 H
osd_layout 2 112 1 4 H
osd_layout 2 113 0 0 H
osd_layout 2 114 0 0 H
osd_layout 2 115 0 0 H
osd_layout 2 116 0 0 H
osd_layout 2 117 3 4 H
osd_layout 2 118 3 5 H
osd_layout 2 119 3 6 H
osd_layout 2 120 23 2 H
osd_layout 2 121 0 0 H
osd_layout 2 122 0 0 H
osd_layout 2 123 0 0 H
osd_layout 2 124 0 0 H
osd_layout 2 125 0 10 H
osd_layout 2 126 2 7 H
osd_layout 2 127 2 8 H
osd_layout 2 128 2 9 H
osd_layout 2 129 2 10 H
osd_layout 2 130 0 0 H
osd_layout 2 131 0 0 H
osd_layout 2 132 0 0 H
osd_layout 2 133 0 0 H
osd_layout 2 136 12 3 H
osd_layout 2 137 12 3 H
osd_layout 2 138 20 3 H
osd_layout 2 140 1 4 H
osd_layout 2 141 1 3 H
osd_layout 2 144 0 0 H
osd_layout 2 145 0 0 H
osd_layout 2 146 2 7 H
osd_layout 2 147 2 8 H
osd_layout 2 148 2 10 H
osd_layout 2 150 0 0 H
osd_layout 2 151 0 0 H
osd_layout 2 152 0 0 H
osd_layout 2 155 23 11 H
osd_layout 2 156 24 11 H
osd_layout 2 157 24 12 H
osd_layout 2 158 24 13 H
osd_layout 2 159 0 0 H
osd_layout 2 160 0 0 H
osd_layout 2 161 0 0 H
osd_layout 2 162 0 0 H
osd_layout 2 163 23 0 H
osd_layout 2 164 12 0 H
osd_layout 2 166 8 6 H
osd_layout 2 167 8 6 H
osd_layout 2 168 23 8 H
osd_layout 3 0 23 9 H
osd_layout 3 1 13 12 H
osd_layout 3 2 20 2 H
osd_layout 3 3 1 2 H
osd_layout 3 5 2 3 H
osd_layout 3 6 1 4 H
osd_layout 3 7 23 1 H
osd_layout 3 8 0 11 H
osd_layout 3 9 1 0 H
osd_layout 3 10 2 10 H
osd_layout 3 11 2 11 H
osd_layout 3 12 2 12 H
osd_layout 3 13 15 1 H
osd_layout 3 14 18 12 H
osd_layout 3 15 0 12 H
osd_layout 3 16 14 11 H
osd_layout 3 17 1 1 H
osd_layout 3 18 12 2 H
osd_layout 3 19 23 5 H
osd_layout 3 20 24 7 H
osd_layout 3 21 3 5 H
osd_layout 3 22 23 11 H
osd_layout 3 23 23 12 H
osd_layout 3 24 1 13 H
osd_layout 3 25 0 10 H
osd_layout 3 26 12 1 H
osd_layout 3 27 6 2 H
osd_layout 3 28 18 2 H
osd_layout 3 29 1 5 H
osd_layout 3 30 1 5 H
osd_layout 3 31 1 6 H
osd_layout 3 32 1 7 H
osd_layout 3 33 1 5 H
osd_layout 3 34 1 2 H
osd_layout 3 35 1 8 H
osd_layout 3 36 1 7 H
osd_layout 3 37 0 0 H
osd_layout 3 38 0 0 H
osd_layout 3 39 0 0 H
osd_layout 3 40 3 6 H
osd_layout 3 41 3 7 H
osd_layout 3 42 23 7 H
osd_layout 3 43 23 6 H
osd_layout 3 45 12 2 H
osd_layout 3 46 12 2 H
osd_layout 3 47 12 1 H
osd_layout 3 48 12 1 H
osd_layout 3 49 1 8 H
osd_layout 3 50 2 12 H
osd_layout 3 51 2 12 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 56 2 10 H
osd_layout 3 57 2 11 H
osd_layout 3 62 2 12 H
osd_layout 3 63 2 12 H
osd_layout 3 72 0 0 H
osd_layout 3 78 2 12 H
osd_layout 3 79 23 1 H
osd_layout 3 80 19 2 H
osd_layout 3 81 19 3 H
osd_layout 3 82 19 4 H
osd_layout 3 83 19 5 H
osd_layout 3 84 19 6 H
osd_layout 3 85 19 7 H
osd_layout 3 86 19 8 H
osd_layout 3 87 19 9 H
osd_layout 3 88 19 10 H
osd_layout 3 89 19 11 H
osd_layout 3 90 0 0 H
osd_layout 3 91 0 12 H
osd_layout 3 92 0 0 H
osd_layout 3 93 0 0 H
osd_layout 3 94 12 4 H
osd_layout 3 95 12 5 H
osd_layout 3 96 12 6 H
osd_layout 3 97 12 7 H
osd_layout 3 99 3 5 H
osd_layout 3 100 1 2 H
osd_layout 3 101 1 3 H
osd_layout 3 102 2 12 H
osd_layout 3 103 23 12 H
osd_layout 3 104 23 10 H
osd_layout 3 105 24 9 H
osd_layout 3 106 24 10 H
osd_layout 3 107 1 1 H
osd_layout 3 108 1 2 H
osd_layout 3 109 1 3 H
osd_layout 3 110 1 4 H
osd_layout 3 111 0 0 H
osd_layout 3 112 0 0 H
osd_layout 3 113 0 0 H
osd_layout 3 114 0 0 H
osd_layout 3 115 3 4 H
osd_layout 3 116 3 5 H
osd_layout 3 117 3 6 H
osd_layout 3 118 23 2 H
osd_layout 3 121 0 0 H
osd_layout 3 122 0 0 H
osd_layout 3 123 0 10 H
osd_layout 3 124 2 7 H
osd_layout 3 125 2 8 H
osd_layout 3 126 2 9 H
osd_layout 3 127 2 10 H
osd_layout 3 129 0 0 H
osd_layout 3 130 0 0 H
osd_layout 3 131 0 0 H
osd_layout 3 132 0 0 H
osd_layout 3 133 0 0 H
osd_layout 3 134 12 3 H
osd_layout 3 135 12 3 H
osd_layout 3 136 20 3 H
osd_layout 3 138 1 4 H
osd_layout 3 139 1 3 H
osd_layout 3 140 20 3 H
osd_layout 3 141 0 0 H
osd_layout 3 142 0 0 H
osd_layout 3 144 2 7 H
osd_layout 3 145 2 8 H
osd_layout 3 146 2 10 H
osd_layout 3 150 0 0 H
osd_layout 3 151 0 0 H
osd_layout 3 152 0 0 H
osd_layout 3 153 23 11 H
osd_layout 3 154 24 11 H
osd_layout 3 155 24 12 H
osd_layout 3 156 24 13 H
osd_layout 3 159 0 0 H
osd_layout 3 160 0 0 H

# Programming: logic

# Programming: global variables

# Programming: PID controllers

# OSD: custom elements

# master
set gyro_zero_x = -1
set gyro_zero_y = 4
set gyro_zero_z = -8
set ins_gravity_cmss =  979.343
set acc_hardware = BMI160
set acczero_x = 214
set acczero_y = 23
set acczero_z = 21
set accgain_x = 4113
set accgain_y = 4102
set accgain_z = 4071
set align_mag = CW270FLIP
set mag_hardware = QMC5883P
set magzero_x = 81
set magzero_y = -47
set magzero_z = 118
set maggain_x = 284
set maggain_y = 287
set maggain_z = 282
set align_mag_yaw = 1800
set baro_hardware = BMP280
set pitot_lpf_milli_hz = 350
set serialrx_provider = IBUS
set blackbox_rate_denom = 2
set motor_pwm_protocol = STANDARD
set applied_defaults = 1
set gps_ublox_use_galileo = OFF
set gps_ublox_use_beidou = OFF
set gps_ublox_nav_hz = 10
set inav_w_z_baro_v =  0.100
set inav_w_z_gps_p =  0.200
set inav_w_z_gps_v =  0.100
set mavlink_ext_status_rate = 1
set mavlink_rc_chan_rate = 2
set mavlink_extra2_rate = 1
set mavlink_extra3_rate = 2
set mavlink_version = 1
set mavlink_min_txbuffer = 0
set osd_radar_peers_display_time = 1

# control_profile
control_profile 1


# control_profile
control_profile 2


# control_profile
control_profile 3


# mixer_profile
mixer_profile 1

set model_preview_type = 3
set transition_pid_mmix_multiplier_roll = 0
set transition_pid_mmix_multiplier_pitch = 0
set transition_pid_mmix_multiplier_yaw = 0

# 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

set motor_direction_inverted = ### ERROR: VALUE 255 OUT OF RANGE FOR motor_direction_inverted

set platform_type = ### ERROR: VALUE 255 OUT OF RANGE FOR platform_type

set has_flaps = ON
set model_preview_type = 0
set motorstop_on_low = OFF
set transition_pid_mmix_multiplier_roll = 0
set transition_pid_mmix_multiplier_pitch = 0
set transition_pid_mmix_multiplier_yaw = 0

# Mixer: motor mixer

# Mixer: servo mixer
smix reset

smix 0 0 0 -256 0 0
smix 1 0 0 -256 0 0
smix 2 0 0 -256 0 0
smix 3 0 0 -256 0 0
smix 4 0 0 -256 0 0
smix 5 0 0 -256 0 0
smix 6 0 0 -256 0 0
smix 7 0 0 -256 0 0
smix 8 0 0 -256 0 0
smix 9 0 0 -256 0 0
smix 10 0 0 -256 0 0
smix 11 0 0 -256 0 0
smix 12 0 0 -256 0 0
smix 13 0 0 -256 0 0
smix 14 0 0 -256 0 0
smix 15 0 0 -256 0 0
smix 16 0 0 -256 0 0
smix 17 0 0 -256 0 0
smix 18 0 0 -256 0 0
smix 19 0 0 -256 0 0
smix 20 0 0 -256 0 0
smix 21 0 0 -256 0 0
smix 22 0 0 -256 0 0
smix 23 0 0 -256 0 0
smix 24 0 0 -256 0 0
smix 25 0 0 -256 0 0
smix 26 0 0 -256 0 0
smix 27 0 0 -256 0 0
smix 28 0 0 -256 0 0
smix 29 0 0 -256 0 0
smix 30 0 0 -256 0 0
smix 31 0 0 -256 0 0
smix 32 0 0 -256 0 0
smix 33 0 0 -256 0 0
smix 34 0 0 -256 0 -1

# battery_profile
battery_profile 1


# battery_profile
battery_profile 2

set failsafe_throttle = 1100

# battery_profile
battery_profile 3


# restore original profile selection
control_profile 3
mixer_profile 1
battery_profile 2

# save configuration
save

# $X<l$X<l$X<l$X<l