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1460 lines
34 KiB
Plaintext
1460 lines
34 KiB
Plaintext
# version
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# Betaflight / STM32F405 (S405) 4.2.0 Jun 14 2020 / 03:04:22 (8f2d21460) MSP API: 1.43
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# config: manufacturer_id: AIRB, board_name: OMNIBUSF4SD, version: 3a35e73b, date: 2019-09-30T05:46:12Z
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# start the command batch
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batch start
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board_name OMNIBUSF4SD
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manufacturer_id AIRB
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mcu_id 003d003d4d4b500220313252
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signature
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# name: -
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# resources
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resource BEEPER 1 B04
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resource MOTOR 1 A03
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resource MOTOR 2 B00
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resource MOTOR 3 A02
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resource MOTOR 4 B01
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resource MOTOR 5 NONE
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resource MOTOR 6 NONE
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resource MOTOR 7 NONE
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resource MOTOR 8 NONE
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resource SERVO 1 NONE
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resource SERVO 2 NONE
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resource SERVO 3 NONE
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resource SERVO 4 NONE
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resource SERVO 5 NONE
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resource SERVO 6 NONE
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resource SERVO 7 NONE
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resource SERVO 8 NONE
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resource PPM 1 B08
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resource PWM 1 B08
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resource PWM 2 B09
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resource PWM 3 C06
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resource PWM 4 C07
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resource PWM 5 C08
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resource PWM 6 C09
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resource PWM 7 NONE
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resource PWM 8 NONE
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resource SONAR_TRIGGER 1 A01
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resource SONAR_ECHO 1 A08
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resource LED_STRIP 1 B06
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resource SERIAL_TX 1 A09
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resource SERIAL_TX 2 NONE
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resource SERIAL_TX 3 B10
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resource SERIAL_TX 4 NONE
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resource SERIAL_TX 5 NONE
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resource SERIAL_TX 6 C06
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resource SERIAL_TX 7 NONE
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resource SERIAL_TX 8 NONE
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resource SERIAL_TX 9 NONE
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resource SERIAL_TX 10 NONE
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resource SERIAL_TX 11 NONE
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resource SERIAL_TX 12 NONE
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resource SERIAL_RX 1 A10
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resource SERIAL_RX 2 NONE
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resource SERIAL_RX 3 B11
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resource SERIAL_RX 4 NONE
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resource SERIAL_RX 5 NONE
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resource SERIAL_RX 6 C07
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resource SERIAL_RX 7 NONE
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resource SERIAL_RX 8 NONE
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resource SERIAL_RX 9 NONE
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resource SERIAL_RX 10 NONE
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resource SERIAL_RX 11 NONE
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resource SERIAL_RX 12 NONE
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resource INVERTER 1 NONE
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resource INVERTER 2 NONE
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resource INVERTER 3 C09
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resource INVERTER 4 NONE
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resource INVERTER 5 NONE
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resource INVERTER 6 C08
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resource INVERTER 7 NONE
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resource INVERTER 8 NONE
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resource INVERTER 9 NONE
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resource INVERTER 10 NONE
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resource INVERTER 11 NONE
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resource INVERTER 12 NONE
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resource I2C_SCL 1 NONE
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resource I2C_SCL 2 NONE
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resource I2C_SCL 3 NONE
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resource I2C_SDA 1 NONE
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resource I2C_SDA 2 NONE
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resource I2C_SDA 3 NONE
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resource LED 1 B05
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resource LED 2 NONE
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resource LED 3 NONE
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resource RX_BIND 1 NONE
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resource RX_BIND_PLUG 1 NONE
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resource TRANSPONDER 1 NONE
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resource SPI_SCK 1 A05
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resource SPI_SCK 2 B13
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resource SPI_SCK 3 C10
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resource SPI_MISO 1 A06
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resource SPI_MISO 2 B14
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resource SPI_MISO 3 C11
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resource SPI_MOSI 1 A07
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resource SPI_MOSI 2 B15
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resource SPI_MOSI 3 C12
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resource ESCSERIAL 1 NONE
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resource CAMERA_CONTROL 1 NONE
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resource ADC_BATT 1 C02
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resource ADC_RSSI 1 A00
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resource ADC_CURR 1 C01
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resource ADC_EXT 1 NONE
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resource BARO_CS 1 B03
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resource BARO_EOC 1 NONE
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resource BARO_XCLR 1 NONE
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resource COMPASS_CS 1 NONE
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resource COMPASS_EXTI 1 NONE
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resource SDCARD_CS 1 B12
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resource SDCARD_DETECT 1 B07
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resource PINIO 1 NONE
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resource PINIO 2 NONE
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resource PINIO 3 NONE
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resource PINIO 4 NONE
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resource USB_MSC_PIN 1 NONE
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resource FLASH_CS 1 B12
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resource OSD_CS 1 A15
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resource RX_SPI_CS 1 NONE
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resource RX_SPI_EXTI 1 NONE
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resource RX_SPI_BIND 1 NONE
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resource RX_SPI_LED 1 NONE
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resource RX_SPI_CC2500_TX_EN 1 NONE
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resource RX_SPI_CC2500_LNA_EN 1 NONE
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resource RX_SPI_CC2500_ANT_SEL 1 NONE
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resource GYRO_EXTI 1 C04
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resource GYRO_EXTI 2 NONE
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resource GYRO_CS 1 A04
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resource GYRO_CS 2 NONE
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resource USB_DETECT 1 C05
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resource VTX_POWER 1 NONE
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resource VTX_CS 1 NONE
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resource VTX_DATA 1 NONE
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resource VTX_CLK 1 NONE
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resource PULLUP 1 NONE
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resource PULLUP 2 NONE
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resource PULLUP 3 NONE
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resource PULLUP 4 NONE
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resource PULLDOWN 1 NONE
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resource PULLDOWN 2 NONE
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resource PULLDOWN 3 NONE
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resource PULLDOWN 4 NONE
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# timer
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timer B08 AF3
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# pin B08: TIM10 CH1 (AF3)
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timer B09 AF2
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# pin B09: TIM4 CH4 (AF2)
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timer C06 AF3
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# pin C06: TIM8 CH1 (AF3)
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timer C07 AF3
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# pin C07: TIM8 CH2 (AF3)
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timer C08 AF3
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# pin C08: TIM8 CH3 (AF3)
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timer C09 AF3
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# pin C09: TIM8 CH4 (AF3)
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timer B00 AF2
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# pin B00: TIM3 CH3 (AF2)
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timer B01 AF2
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# pin B01: TIM3 CH4 (AF2)
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timer A03 AF1
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# pin A03: TIM2 CH4 (AF1)
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timer A02 AF1
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# pin A02: TIM2 CH3 (AF1)
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timer A01 AF2
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# pin A01: TIM5 CH2 (AF2)
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timer B06 AF2
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# pin B06: TIM4 CH1 (AF2)
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timer A08 AF1
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# pin A08: TIM1 CH1 (AF1)
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timer A09 AF1
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# pin A09: TIM1 CH2 (AF1)
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timer A10 AF1
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# pin A10: TIM1 CH3 (AF1)
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# dma
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dma SPI_TX 1 NONE
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dma SPI_TX 2 0
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# SPI_TX 2: DMA1 Stream 4 Channel 0
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dma SPI_TX 3 NONE
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dma SPI_RX 1 NONE
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dma SPI_RX 2 NONE
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dma SPI_RX 3 NONE
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dma ADC 1 NONE
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dma ADC 2 1
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# ADC 2: DMA2 Stream 3 Channel 1
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dma ADC 3 NONE
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dma UART_TX 1 NONE
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dma UART_TX 2 NONE
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dma UART_TX 3 NONE
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dma UART_TX 4 NONE
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dma UART_TX 5 NONE
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dma UART_TX 6 NONE
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dma UART_TX 7 NONE
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dma UART_TX 8 NONE
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dma UART_RX 1 NONE
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dma UART_RX 2 NONE
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dma UART_RX 3 NONE
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dma UART_RX 4 NONE
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dma UART_RX 5 NONE
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dma UART_RX 6 NONE
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dma UART_RX 7 NONE
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dma UART_RX 8 NONE
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dma pin B08 NONE
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dma pin B09 NONE
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dma pin C06 0
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# pin C06: DMA2 Stream 2 Channel 0
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dma pin C07 0
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# pin C07: DMA2 Stream 2 Channel 0
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dma pin C08 0
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# pin C08: DMA2 Stream 2 Channel 0
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dma pin C09 0
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# pin C09: DMA2 Stream 7 Channel 7
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dma pin B00 0
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# pin B00: DMA1 Stream 7 Channel 5
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dma pin B01 0
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# pin B01: DMA1 Stream 2 Channel 5
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dma pin A03 1
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# pin A03: DMA1 Stream 6 Channel 3
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dma pin A02 0
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# pin A02: DMA1 Stream 1 Channel 3
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dma pin A01 0
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# pin A01: DMA1 Stream 4 Channel 6
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dma pin B06 0
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# pin B06: DMA1 Stream 0 Channel 2
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dma pin A08 0
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# pin A08: DMA2 Stream 6 Channel 0
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dma pin A09 0
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# pin A09: DMA2 Stream 6 Channel 0
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dma pin A10 0
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# pin A10: DMA2 Stream 6 Channel 0
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# mixer
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mixer QUADX
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mmix reset
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# servo
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servo 0 1000 2000 1500 100 -1
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servo 1 1000 2000 1500 100 -1
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servo 2 1000 2000 1500 100 -1
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servo 3 1000 2000 1500 100 -1
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servo 4 1000 2000 1500 100 -1
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servo 5 1000 2000 1500 100 -1
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servo 6 1000 2000 1500 100 -1
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servo 7 1000 2000 1500 100 -1
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# servo mixer
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smix reset
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# feature
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feature -RX_PPM
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feature -INFLIGHT_ACC_CAL
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feature -RX_SERIAL
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feature -MOTOR_STOP
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feature -SERVO_TILT
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feature -SOFTSERIAL
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feature -GPS
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feature -RANGEFINDER
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feature -TELEMETRY
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feature -3D
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feature -RX_PARALLEL_PWM
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feature -RX_MSP
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feature -RSSI_ADC
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feature -LED_STRIP
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feature -DISPLAY
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feature -OSD
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feature -CHANNEL_FORWARDING
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feature -TRANSPONDER
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feature -AIRMODE
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feature -RX_SPI
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feature -ESC_SENSOR
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feature -ANTI_GRAVITY
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feature -DYNAMIC_FILTER
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feature RX_SERIAL
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feature OSD
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feature AIRMODE
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feature ANTI_GRAVITY
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feature DYNAMIC_FILTER
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# beeper
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beeper GYRO_CALIBRATED
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beeper RX_LOST
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beeper RX_LOST_LANDING
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beeper DISARMING
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beeper ARMING
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beeper ARMING_GPS_FIX
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beeper ARMING_GPS_NO_FIX
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beeper BAT_CRIT_LOW
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beeper BAT_LOW
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beeper GPS_STATUS
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beeper RX_SET
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beeper ACC_CALIBRATION
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beeper ACC_CALIBRATION_FAIL
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beeper READY_BEEP
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beeper MULTI_BEEPS
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beeper DISARM_REPEAT
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beeper ARMED
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beeper SYSTEM_INIT
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beeper ON_USB
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beeper BLACKBOX_ERASE
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beeper CRASH_FLIP
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beeper CAM_CONNECTION_OPEN
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beeper CAM_CONNECTION_CLOSE
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beeper RC_SMOOTHING_INIT_FAIL
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# beacon
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beacon -RX_LOST
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beacon -RX_SET
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# map
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map AETR1234
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# serial
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serial 20 1 115200 57600 0 115200
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serial 0 64 115200 57600 0 115200
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serial 2 1 115200 57600 0 115200
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serial 5 0 115200 57600 0 115200
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# led
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led 0 0,0::C:0
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led 1 0,0::C:0
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led 2 0,0::C:0
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led 3 0,0::C:0
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led 4 0,0::C:0
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led 5 0,0::C:0
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led 6 0,0::C:0
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led 7 0,0::C:0
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led 8 0,0::C:0
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led 9 0,0::C:0
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led 10 0,0::C:0
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led 11 0,0::C:0
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led 12 0,0::C:0
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led 13 0,0::C:0
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led 14 0,0::C:0
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led 15 0,0::C:0
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led 16 0,0::C:0
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led 17 0,0::C:0
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led 18 0,0::C:0
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led 19 0,0::C:0
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led 20 0,0::C:0
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led 21 0,0::C:0
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led 22 0,0::C:0
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led 23 0,0::C:0
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led 24 0,0::C:0
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led 25 0,0::C:0
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led 26 0,0::C:0
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led 27 0,0::C:0
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led 28 0,0::C:0
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led 29 0,0::C:0
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led 30 0,0::C:0
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led 31 0,0::C:0
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# color
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color 0 0,0,0
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color 1 0,255,255
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color 2 0,0,255
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color 3 30,0,255
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color 4 60,0,255
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color 5 90,0,255
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color 6 120,0,255
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color 7 150,0,255
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color 8 180,0,255
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color 9 210,0,255
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color 10 240,0,255
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color 11 270,0,255
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color 12 300,0,255
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color 13 330,0,255
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color 14 0,0,0
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color 15 0,0,0
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# mode_color
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mode_color 0 0 1
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mode_color 0 1 11
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mode_color 0 2 2
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mode_color 0 3 13
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mode_color 0 4 10
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mode_color 0 5 3
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mode_color 1 0 5
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mode_color 1 1 11
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mode_color 1 2 3
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mode_color 1 3 13
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mode_color 1 4 10
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mode_color 1 5 3
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mode_color 2 0 10
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mode_color 2 1 11
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mode_color 2 2 4
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mode_color 2 3 13
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mode_color 2 4 10
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mode_color 2 5 3
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mode_color 3 0 8
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mode_color 3 1 11
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mode_color 3 2 4
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mode_color 3 3 13
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mode_color 3 4 10
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mode_color 3 5 3
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mode_color 4 0 7
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mode_color 4 1 11
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mode_color 4 2 3
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mode_color 4 3 13
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mode_color 4 4 10
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mode_color 4 5 3
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mode_color 5 0 0
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mode_color 5 1 0
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mode_color 5 2 0
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mode_color 5 3 0
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mode_color 5 4 0
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mode_color 5 5 0
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mode_color 6 0 6
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mode_color 6 1 10
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mode_color 6 2 1
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mode_color 6 3 0
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mode_color 6 4 0
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mode_color 6 5 2
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mode_color 6 6 3
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mode_color 6 7 6
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mode_color 6 8 0
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mode_color 6 9 0
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mode_color 6 10 0
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mode_color 7 0 3
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# aux
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aux 0 0 0 950 1050 0 0
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aux 1 1 3 1450 1550 0 0
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aux 2 35 3 1950 2050 0 0
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aux 3 0 0 900 900 0 0
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aux 4 0 0 900 900 0 0
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aux 5 0 0 900 900 0 0
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aux 6 0 0 900 900 0 0
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aux 7 0 0 900 900 0 0
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aux 8 0 0 900 900 0 0
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aux 9 0 0 900 900 0 0
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aux 10 0 0 900 900 0 0
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aux 11 0 0 900 900 0 0
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aux 12 0 0 900 900 0 0
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aux 13 0 0 900 900 0 0
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aux 14 0 0 900 900 0 0
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aux 15 0 0 900 900 0 0
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aux 16 0 0 900 900 0 0
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aux 17 0 0 900 900 0 0
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aux 18 0 0 900 900 0 0
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aux 19 0 0 900 900 0 0
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# adjrange
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adjrange 0 0 0 900 900 0 0 0 0
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adjrange 1 0 0 900 900 0 0 0 0
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adjrange 2 0 0 900 900 0 0 0 0
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adjrange 3 0 0 900 900 0 0 0 0
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adjrange 4 0 0 900 900 0 0 0 0
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adjrange 5 0 0 900 900 0 0 0 0
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adjrange 6 0 0 900 900 0 0 0 0
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adjrange 7 0 0 900 900 0 0 0 0
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adjrange 8 0 0 900 900 0 0 0 0
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adjrange 9 0 0 900 900 0 0 0 0
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adjrange 10 0 0 900 900 0 0 0 0
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adjrange 11 0 0 900 900 0 0 0 0
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adjrange 12 0 0 900 900 0 0 0 0
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adjrange 13 0 0 900 900 0 0 0 0
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adjrange 14 0 0 900 900 0 0 0 0
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adjrange 15 0 0 900 900 0 0 0 0
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adjrange 16 0 0 900 900 0 0 0 0
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adjrange 17 0 0 900 900 0 0 0 0
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adjrange 18 0 0 900 900 0 0 0 0
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adjrange 19 0 0 900 900 0 0 0 0
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adjrange 20 0 0 900 900 0 0 0 0
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adjrange 21 0 0 900 900 0 0 0 0
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adjrange 22 0 0 900 900 0 0 0 0
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adjrange 23 0 0 900 900 0 0 0 0
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adjrange 24 0 0 900 900 0 0 0 0
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adjrange 25 0 0 900 900 0 0 0 0
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adjrange 26 0 0 900 900 0 0 0 0
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adjrange 27 0 0 900 900 0 0 0 0
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adjrange 28 0 0 900 900 0 0 0 0
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adjrange 29 0 0 900 900 0 0 0 0
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# rxrange
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rxrange 0 1000 2000
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rxrange 1 1000 2000
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rxrange 2 1000 2000
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rxrange 3 1000 2000
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# vtxtable
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vtxtable bands 0
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vtxtable channels 0
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vtxtable powerlevels 0
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vtxtable powervalues
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vtxtable powerlabels
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# vtx
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vtx 0 0 0 0 0 900 900
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vtx 1 0 0 0 0 900 900
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vtx 2 0 0 0 0 900 900
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vtx 3 0 0 0 0 900 900
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vtx 4 0 0 0 0 900 900
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vtx 5 0 0 0 0 900 900
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vtx 6 0 0 0 0 900 900
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vtx 7 0 0 0 0 900 900
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vtx 8 0 0 0 0 900 900
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vtx 9 0 0 0 0 900 900
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# rxfail
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rxfail 0 a
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rxfail 1 a
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rxfail 2 a
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rxfail 3 a
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rxfail 4 h
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rxfail 5 h
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rxfail 6 h
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rxfail 7 h
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rxfail 8 h
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rxfail 9 h
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rxfail 10 h
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rxfail 11 h
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rxfail 12 h
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rxfail 13 h
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rxfail 14 h
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rxfail 15 h
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rxfail 16 h
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rxfail 17 h
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# master
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set gyro_hardware_lpf = NORMAL
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set gyro_lowpass_type = PT1
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set gyro_lowpass_hz = 199
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set gyro_lowpass2_type = PT1
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set gyro_lowpass2_hz = 250
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set gyro_notch1_hz = 0
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set gyro_notch1_cutoff = 0
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set gyro_notch2_hz = 0
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set gyro_notch2_cutoff = 0
|
|
set gyro_calib_duration = 125
|
|
set gyro_calib_noise_limit = 48
|
|
set gyro_offset_yaw = 0
|
|
set gyro_overflow_detect = ALL
|
|
set yaw_spin_recovery = AUTO
|
|
set yaw_spin_threshold = 1950
|
|
set gyro_to_use = FIRST
|
|
set dyn_notch_width_percent = 8
|
|
set dyn_notch_q = 120
|
|
set dyn_notch_min_hz = 150
|
|
set dyn_notch_max_hz = 600
|
|
set dyn_lpf_gyro_min_hz = 200
|
|
set dyn_lpf_gyro_max_hz = 500
|
|
set gyro_filter_debug_axis = ROLL
|
|
set acc_hardware = AUTO
|
|
set acc_lpf_hz = 10
|
|
set acc_trim_pitch = 0
|
|
set acc_trim_roll = 0
|
|
set acc_calibration = 99,-51,-24,1
|
|
set align_mag = DEFAULT
|
|
set mag_align_roll = 0
|
|
set mag_align_pitch = 0
|
|
set mag_align_yaw = 0
|
|
set mag_bustype = I2C
|
|
set mag_i2c_device = 2
|
|
set mag_i2c_address = 0
|
|
set mag_spi_device = 0
|
|
set mag_hardware = NONE
|
|
set mag_declination = 0
|
|
set mag_calibration = 0,0,0
|
|
set baro_bustype = SPI
|
|
set baro_spi_device = 3
|
|
set baro_i2c_device = 0
|
|
set baro_i2c_address = 0
|
|
set baro_hardware = NONE
|
|
set baro_tab_size = 21
|
|
set baro_noise_lpf = 600
|
|
set baro_cf_vel = 985
|
|
set mid_rc = 1500
|
|
set min_check = 1050
|
|
set max_check = 1900
|
|
set rssi_channel = 0
|
|
set rssi_src_frame_errors = OFF
|
|
set rssi_scale = 100
|
|
set rssi_offset = 0
|
|
set rssi_invert = OFF
|
|
set rssi_src_frame_lpf_period = 30
|
|
set rc_interp = AUTO
|
|
set rc_interp_ch = RPYT
|
|
set rc_interp_int = 19
|
|
set rc_smoothing_type = FILTER
|
|
set rc_smoothing_input_hz = 0
|
|
set rc_smoothing_derivative_hz = 0
|
|
set rc_smoothing_debug_axis = ROLL
|
|
set rc_smoothing_input_type = BIQUAD
|
|
set rc_smoothing_derivative_type = AUTO
|
|
set rc_smoothing_auto_smoothness = 10
|
|
set fpv_mix_degrees = 0
|
|
set max_aux_channels = 14
|
|
set serialrx_provider = SBUS
|
|
set serialrx_inverted = OFF
|
|
set spektrum_sat_bind = 0
|
|
set spektrum_sat_bind_autoreset = ON
|
|
set srxl2_unit_id = 1
|
|
set srxl2_baud_fast = ON
|
|
set sbus_baud_fast = OFF
|
|
set crsf_use_rx_snr = OFF
|
|
set airmode_start_throttle_percent = 25
|
|
set rx_min_usec = 885
|
|
set rx_max_usec = 2115
|
|
set serialrx_halfduplex = OFF
|
|
set rx_spi_protocol = V202_250K
|
|
set rx_spi_bus = 0
|
|
set rx_spi_led_inversion = OFF
|
|
set adc_device = 2
|
|
set adc_vrefint_calibration = 0
|
|
set adc_tempsensor_calibration30 = 0
|
|
set adc_tempsensor_calibration110 = 0
|
|
set input_filtering_mode = OFF
|
|
set blackbox_p_ratio = 32
|
|
set blackbox_device = NONE
|
|
set blackbox_record_acc = ON
|
|
set blackbox_mode = NORMAL
|
|
set min_throttle = 1070
|
|
set max_throttle = 2000
|
|
set min_command = 1000
|
|
set dshot_idle_value = 400
|
|
set dshot_burst = ON
|
|
set dshot_bidir = OFF
|
|
set dshot_bitbang = AUTO
|
|
set dshot_bitbang_timer = AUTO
|
|
set use_unsynced_pwm = OFF
|
|
set motor_pwm_protocol = DSHOT600
|
|
set motor_pwm_rate = 480
|
|
set motor_pwm_inversion = OFF
|
|
set motor_poles = 14
|
|
set thr_corr_value = 0
|
|
set thr_corr_angle = 800
|
|
set failsafe_delay = 4
|
|
set failsafe_off_delay = 10
|
|
set failsafe_throttle = 1000
|
|
set failsafe_switch_mode = STAGE1
|
|
set failsafe_throttle_low_delay = 100
|
|
set failsafe_procedure = DROP
|
|
set failsafe_recovery_delay = 20
|
|
set failsafe_stick_threshold = 30
|
|
set align_board_roll = 0
|
|
set align_board_pitch = 0
|
|
set align_board_yaw = -90
|
|
set gimbal_mode = NORMAL
|
|
set bat_capacity = 0
|
|
set vbat_max_cell_voltage = 430
|
|
set vbat_full_cell_voltage = 410
|
|
set vbat_min_cell_voltage = 330
|
|
set vbat_warning_cell_voltage = 350
|
|
set vbat_hysteresis = 1
|
|
set current_meter = ADC
|
|
set battery_meter = ADC
|
|
set vbat_detect_cell_voltage = 300
|
|
set use_vbat_alerts = ON
|
|
set use_cbat_alerts = OFF
|
|
set cbat_alert_percent = 10
|
|
set vbat_cutoff_percent = 100
|
|
set force_battery_cell_count = 0
|
|
set vbat_display_lpf_period = 30
|
|
set vbat_sag_lpf_period = 2
|
|
set ibat_lpf_period = 10
|
|
set vbat_duration_for_warning = 0
|
|
set vbat_duration_for_critical = 0
|
|
set vbat_scale = 110
|
|
set vbat_divider = 10
|
|
set vbat_multiplier = 1
|
|
set ibata_scale = 400
|
|
set ibata_offset = 0
|
|
set ibatv_scale = 0
|
|
set ibatv_offset = 0
|
|
set beeper_inversion = ON
|
|
set beeper_od = OFF
|
|
set beeper_frequency = 0
|
|
set beeper_dshot_beacon_tone = 1
|
|
set yaw_motors_reversed = OFF
|
|
set crashflip_motor_percent = 0
|
|
set crashflip_expo = 35
|
|
set 3d_deadband_low = 1406
|
|
set 3d_deadband_high = 1514
|
|
set 3d_neutral = 1460
|
|
set 3d_deadband_throttle = 50
|
|
set 3d_limit_low = 1000
|
|
set 3d_limit_high = 2000
|
|
set 3d_switched_mode = OFF
|
|
set servo_center_pulse = 1500
|
|
set servo_pwm_rate = 50
|
|
set servo_lowpass_hz = 0
|
|
set tri_unarmed_servo = ON
|
|
set channel_forwarding_start = 4
|
|
set reboot_character = 82
|
|
set serial_update_rate_hz = 100
|
|
set imu_dcm_kp = 2500
|
|
set imu_dcm_ki = 0
|
|
set small_angle = 25
|
|
set auto_disarm_delay = 5
|
|
set gyro_cal_on_first_arm = OFF
|
|
set gps_provider = NMEA
|
|
set gps_sbas_mode = NONE
|
|
set gps_sbas_integrity = OFF
|
|
set gps_auto_config = ON
|
|
set gps_auto_baud = OFF
|
|
set gps_ublox_use_galileo = OFF
|
|
set gps_ublox_mode = AIRBORNE
|
|
set gps_set_home_point_once = OFF
|
|
set gps_use_3d_speed = OFF
|
|
set gps_rescue_angle = 32
|
|
set gps_rescue_initial_alt = 50
|
|
set gps_rescue_descent_dist = 200
|
|
set gps_rescue_landing_alt = 5
|
|
set gps_rescue_landing_dist = 10
|
|
set gps_rescue_ground_speed = 2000
|
|
set gps_rescue_throttle_p = 150
|
|
set gps_rescue_throttle_i = 20
|
|
set gps_rescue_throttle_d = 50
|
|
set gps_rescue_velocity_p = 80
|
|
set gps_rescue_velocity_i = 20
|
|
set gps_rescue_velocity_d = 15
|
|
set gps_rescue_yaw_p = 40
|
|
set gps_rescue_throttle_min = 1100
|
|
set gps_rescue_throttle_max = 1600
|
|
set gps_rescue_ascend_rate = 500
|
|
set gps_rescue_descend_rate = 150
|
|
set gps_rescue_throttle_hover = 1280
|
|
set gps_rescue_sanity_checks = RESCUE_SANITY_ON
|
|
set gps_rescue_min_sats = 8
|
|
set gps_rescue_min_dth = 100
|
|
set gps_rescue_allow_arming_without_fix = OFF
|
|
set gps_rescue_alt_mode = MAX_ALT
|
|
set gps_rescue_use_mag = ON
|
|
set deadband = 0
|
|
set yaw_deadband = 0
|
|
set yaw_control_reversed = OFF
|
|
set pid_process_denom = 1
|
|
set runaway_takeoff_prevention = ON
|
|
set runaway_takeoff_deactivate_delay = 500
|
|
set runaway_takeoff_deactivate_throttle_percent = 20
|
|
set thrust_linear = 0
|
|
set transient_throttle_limit = 0
|
|
set tlm_inverted = OFF
|
|
set tlm_halfduplex = ON
|
|
set frsky_default_lat = 0
|
|
set frsky_default_long = 0
|
|
set frsky_gps_format = 0
|
|
set frsky_unit = IMPERIAL
|
|
set frsky_vfas_precision = 0
|
|
set hott_alarm_int = 5
|
|
set pid_in_tlm = OFF
|
|
set report_cell_voltage = OFF
|
|
set ibus_sensor = 1,2,3,0,0,0,0,0,0,0,0,0,0,0,0
|
|
set mavlink_mah_as_heading_divisor = 0
|
|
set telemetry_disabled_voltage = OFF
|
|
set telemetry_disabled_current = OFF
|
|
set telemetry_disabled_fuel = OFF
|
|
set telemetry_disabled_mode = OFF
|
|
set telemetry_disabled_acc_x = OFF
|
|
set telemetry_disabled_acc_y = OFF
|
|
set telemetry_disabled_acc_z = OFF
|
|
set telemetry_disabled_pitch = OFF
|
|
set telemetry_disabled_roll = OFF
|
|
set telemetry_disabled_heading = OFF
|
|
set telemetry_disabled_altitude = OFF
|
|
set telemetry_disabled_vario = OFF
|
|
set telemetry_disabled_lat_long = OFF
|
|
set telemetry_disabled_ground_speed = OFF
|
|
set telemetry_disabled_distance = OFF
|
|
set telemetry_disabled_esc_current = ON
|
|
set telemetry_disabled_esc_voltage = ON
|
|
set telemetry_disabled_esc_rpm = ON
|
|
set telemetry_disabled_esc_temperature = ON
|
|
set telemetry_disabled_temperature = OFF
|
|
set ledstrip_visual_beeper = OFF
|
|
set ledstrip_visual_beeper_color = WHITE
|
|
set ledstrip_grb_rgb = GRB
|
|
set ledstrip_profile = STATUS
|
|
set ledstrip_race_color = ORANGE
|
|
set ledstrip_beacon_color = WHITE
|
|
set ledstrip_beacon_period_ms = 500
|
|
set ledstrip_beacon_percent = 50
|
|
set ledstrip_beacon_armed_only = OFF
|
|
set sdcard_detect_inverted = ON
|
|
set sdcard_mode = SPI
|
|
set sdcard_dma = OFF
|
|
set sdcard_spi_bus = 2
|
|
set sdio_clk_bypass = OFF
|
|
set sdio_use_cache = OFF
|
|
set sdio_use_4bit_width = OFF
|
|
set osd_units = METRIC
|
|
set osd_warn_arming_disable = ON
|
|
set osd_warn_batt_not_full = ON
|
|
set osd_warn_batt_warning = ON
|
|
set osd_warn_batt_critical = ON
|
|
set osd_warn_visual_beeper = ON
|
|
set osd_warn_crash_flip = ON
|
|
set osd_warn_esc_fail = ON
|
|
set osd_warn_core_temp = ON
|
|
set osd_warn_rc_smoothing = ON
|
|
set osd_warn_fail_safe = ON
|
|
set osd_warn_launch_control = ON
|
|
set osd_warn_no_gps_rescue = ON
|
|
set osd_warn_gps_rescue_disabled = ON
|
|
set osd_warn_rssi = OFF
|
|
set osd_warn_link_quality = OFF
|
|
set osd_warn_over_cap = OFF
|
|
set osd_rssi_alarm = 20
|
|
set osd_link_quality_alarm = 80
|
|
set osd_rssi_dbm_alarm = -60
|
|
set osd_cap_alarm = 2200
|
|
set osd_alt_alarm = 100
|
|
set osd_distance_alarm = 0
|
|
set osd_esc_temp_alarm = -128
|
|
set osd_esc_rpm_alarm = -1
|
|
set osd_esc_current_alarm = -1
|
|
set osd_core_temp_alarm = 70
|
|
set osd_ah_max_pit = 20
|
|
set osd_ah_max_rol = 40
|
|
set osd_ah_invert = OFF
|
|
set osd_logo_on_arming = OFF
|
|
set osd_logo_on_arming_duration = 5
|
|
set osd_tim1 = 2560
|
|
set osd_tim2 = 2561
|
|
set osd_vbat_pos = 234
|
|
set osd_rssi_pos = 234
|
|
set osd_link_quality_pos = 234
|
|
set osd_rssi_dbm_pos = 234
|
|
set osd_tim_1_pos = 234
|
|
set osd_tim_2_pos = 234
|
|
set osd_remaining_time_estimate_pos = 234
|
|
set osd_flymode_pos = 234
|
|
set osd_anti_gravity_pos = 234
|
|
set osd_g_force_pos = 234
|
|
set osd_throttle_pos = 234
|
|
set osd_vtx_channel_pos = 234
|
|
set osd_crosshairs_pos = 205
|
|
set osd_ah_sbar_pos = 206
|
|
set osd_ah_pos = 78
|
|
set osd_current_pos = 234
|
|
set osd_mah_drawn_pos = 234
|
|
set osd_motor_diag_pos = 234
|
|
set osd_craft_name_pos = 234
|
|
set osd_display_name_pos = 234
|
|
set osd_gps_speed_pos = 234
|
|
set osd_gps_lon_pos = 234
|
|
set osd_gps_lat_pos = 234
|
|
set osd_gps_sats_pos = 234
|
|
set osd_home_dir_pos = 234
|
|
set osd_home_dist_pos = 234
|
|
set osd_flight_dist_pos = 234
|
|
set osd_compass_bar_pos = 234
|
|
set osd_altitude_pos = 234
|
|
set osd_pid_roll_pos = 234
|
|
set osd_pid_pitch_pos = 234
|
|
set osd_pid_yaw_pos = 234
|
|
set osd_debug_pos = 234
|
|
set osd_power_pos = 234
|
|
set osd_pidrate_profile_pos = 234
|
|
set osd_warnings_pos = 14665
|
|
set osd_avg_cell_voltage_pos = 234
|
|
set osd_pit_ang_pos = 234
|
|
set osd_rol_ang_pos = 234
|
|
set osd_battery_usage_pos = 234
|
|
set osd_disarmed_pos = 234
|
|
set osd_nheading_pos = 234
|
|
set osd_nvario_pos = 234
|
|
set osd_esc_tmp_pos = 234
|
|
set osd_esc_rpm_pos = 234
|
|
set osd_esc_rpm_freq_pos = 234
|
|
set osd_rtc_date_time_pos = 234
|
|
set osd_adjustment_range_pos = 234
|
|
set osd_flip_arrow_pos = 234
|
|
set osd_core_temp_pos = 234
|
|
set osd_log_status_pos = 234
|
|
set osd_stick_overlay_left_pos = 234
|
|
set osd_stick_overlay_right_pos = 234
|
|
set osd_stick_overlay_radio_mode = 2
|
|
set osd_rate_profile_name_pos = 234
|
|
set osd_pid_profile_name_pos = 234
|
|
set osd_profile_name_pos = 234
|
|
set osd_rcchannels_pos = 234
|
|
set osd_camera_frame_pos = 35
|
|
set osd_efficiency_pos = 234
|
|
set osd_stat_rtc_date_time = OFF
|
|
set osd_stat_tim_1 = OFF
|
|
set osd_stat_tim_2 = ON
|
|
set osd_stat_max_spd = ON
|
|
set osd_stat_max_dist = OFF
|
|
set osd_stat_min_batt = ON
|
|
set osd_stat_endbatt = OFF
|
|
set osd_stat_battery = OFF
|
|
set osd_stat_min_rssi = ON
|
|
set osd_stat_max_curr = ON
|
|
set osd_stat_used_mah = ON
|
|
set osd_stat_max_alt = OFF
|
|
set osd_stat_bbox = ON
|
|
set osd_stat_bb_no = ON
|
|
set osd_stat_max_g_force = OFF
|
|
set osd_stat_max_esc_temp = OFF
|
|
set osd_stat_max_esc_rpm = OFF
|
|
set osd_stat_min_link_quality = OFF
|
|
set osd_stat_flight_dist = OFF
|
|
set osd_stat_max_fft = OFF
|
|
set osd_stat_total_flights = OFF
|
|
set osd_stat_total_time = OFF
|
|
set osd_stat_total_dist = OFF
|
|
set osd_stat_min_rssi_dbm = OFF
|
|
set osd_profile = 1
|
|
set osd_profile_1_name = -
|
|
set osd_profile_2_name = -
|
|
set osd_profile_3_name = -
|
|
set osd_gps_sats_show_hdop = OFF
|
|
set osd_displayport_device = AUTO
|
|
set osd_rcchannels = -1,-1,-1,-1
|
|
set osd_camera_frame_width = 24
|
|
set osd_camera_frame_height = 11
|
|
set system_hse_mhz = 8
|
|
set task_statistics = ON
|
|
set debug_mode = NONE
|
|
set rate_6pos_switch = OFF
|
|
set cpu_overclock = OFF
|
|
set pwr_on_arm_grace = 5
|
|
set scheduler_optimize_rate = AUTO
|
|
set enable_stick_arming = OFF
|
|
set vtx_band = 0
|
|
set vtx_channel = 0
|
|
set vtx_power = 0
|
|
set vtx_low_power_disarm = OFF
|
|
set vtx_freq = 0
|
|
set vtx_pit_mode_freq = 0
|
|
set vtx_halfduplex = ON
|
|
set vtx_spi_bus = 0
|
|
set vcd_video_system = AUTO
|
|
set vcd_h_offset = 0
|
|
set vcd_v_offset = 0
|
|
set max7456_clock = DEFAULT
|
|
set max7456_spi_bus = 3
|
|
set max7456_preinit_opu = OFF
|
|
set displayport_msp_col_adjust = 0
|
|
set displayport_msp_row_adjust = 0
|
|
set displayport_msp_serial = 0
|
|
set displayport_msp_attrs = 0,0,0,0
|
|
set displayport_msp_use_device_blink = OFF
|
|
set displayport_max7456_col_adjust = 0
|
|
set displayport_max7456_row_adjust = 0
|
|
set displayport_max7456_inv = OFF
|
|
set displayport_max7456_blk = 0
|
|
set displayport_max7456_wht = 2
|
|
set esc_sensor_halfduplex = OFF
|
|
set esc_sensor_current_offset = 0
|
|
set frsky_spi_autobind = OFF
|
|
set frsky_spi_tx_id = 0,0
|
|
set frsky_spi_offset = 0
|
|
set frsky_spi_bind_hop_data = 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
|
set frsky_x_rx_num = 0
|
|
set frsky_spi_a1_source = VBAT
|
|
set cc2500_spi_chip_detect = ON
|
|
set led_inversion = 0
|
|
set dashboard_i2c_bus = 2
|
|
set dashboard_i2c_addr = 60
|
|
set camera_control_mode = HARDWARE_PWM
|
|
set camera_control_ref_voltage = 330
|
|
set camera_control_key_delay = 180
|
|
set camera_control_internal_resistance = 470
|
|
set camera_control_button_resistance = 450,270,150,68,0
|
|
set camera_control_inverted = OFF
|
|
set rangefinder_hardware = NONE
|
|
set pinio_config = 1,1,1,1
|
|
set pinio_box = 255,255,255,255
|
|
set usb_hid_cdc = OFF
|
|
set usb_msc_pin_pullup = ON
|
|
set flash_spi_bus = 2
|
|
set rcdevice_init_dev_attempts = 6
|
|
set rcdevice_init_dev_attempt_interval = 1000
|
|
set rcdevice_protocol_version = 0
|
|
set rcdevice_feature = 0
|
|
set gyro_1_bustype = SPI
|
|
set gyro_1_spibus = 1
|
|
set gyro_1_i2cBus = 0
|
|
set gyro_1_i2c_address = 0
|
|
set gyro_1_sensor_align = CW270
|
|
set gyro_1_align_roll = 0
|
|
set gyro_1_align_pitch = 0
|
|
set gyro_1_align_yaw = 2700
|
|
set gyro_2_bustype = SPI
|
|
set gyro_2_spibus = 1
|
|
set gyro_2_i2cBus = 0
|
|
set gyro_2_i2c_address = 0
|
|
set gyro_2_sensor_align = CW0
|
|
set gyro_2_align_roll = 0
|
|
set gyro_2_align_pitch = 0
|
|
set gyro_2_align_yaw = 0
|
|
set i2c1_pullup = OFF
|
|
set i2c1_overclock = ON
|
|
set i2c2_pullup = OFF
|
|
set i2c2_overclock = ON
|
|
set i2c3_pullup = OFF
|
|
set i2c3_overclock = ON
|
|
set mco2_on_pc9 = OFF
|
|
set timezone_offset_minutes = 0
|
|
set gyro_rpm_notch_harmonics = 3
|
|
set gyro_rpm_notch_q = 500
|
|
set gyro_rpm_notch_min = 100
|
|
set dterm_rpm_notch_harmonics = 0
|
|
set dterm_rpm_notch_q = 500
|
|
set dterm_rpm_notch_min = 100
|
|
set rpm_notch_lpf = 150
|
|
set flysky_spi_tx_id = 0
|
|
set flysky_spi_rf_channels = 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
|
set stats = OFF
|
|
set stats_total_flights = 0
|
|
set stats_total_time_s = 0
|
|
set stats_total_dist_m = 0
|
|
set name = -
|
|
set display_name = -
|
|
set position_alt_source = DEFAULT
|
|
set box_user_1_name = -
|
|
set box_user_2_name = -
|
|
set box_user_3_name = -
|
|
set box_user_4_name = -
|
|
|
|
profile 0
|
|
|
|
# profile 0
|
|
set profile_name = -
|
|
set dyn_lpf_dterm_min_hz = 70
|
|
set dyn_lpf_dterm_max_hz = 170
|
|
set dyn_lpf_dterm_curve_expo = 5
|
|
set dterm_lowpass_type = PT1
|
|
set dterm_lowpass_hz = 150
|
|
set dterm_lowpass2_type = PT1
|
|
set dterm_lowpass2_hz = 150
|
|
set dterm_notch_hz = 0
|
|
set dterm_notch_cutoff = 0
|
|
set vbat_pid_gain = OFF
|
|
set vbat_sag_compensation = 0
|
|
set pid_at_min_throttle = ON
|
|
set anti_gravity_mode = SMOOTH
|
|
set anti_gravity_threshold = 250
|
|
set anti_gravity_gain = 3500
|
|
set feedforward_transition = 0
|
|
set acc_limit_yaw = 0
|
|
set acc_limit = 0
|
|
set crash_dthreshold = 50
|
|
set crash_gthreshold = 400
|
|
set crash_setpoint_threshold = 350
|
|
set crash_time = 500
|
|
set crash_delay = 0
|
|
set crash_recovery_angle = 10
|
|
set crash_recovery_rate = 100
|
|
set crash_limit_yaw = 200
|
|
set crash_recovery = OFF
|
|
set iterm_rotation = OFF
|
|
set iterm_relax = RP
|
|
set iterm_relax_type = SETPOINT
|
|
set iterm_relax_cutoff = 15
|
|
set iterm_windup = 100
|
|
set iterm_limit = 400
|
|
set pidsum_limit = 500
|
|
set pidsum_limit_yaw = 400
|
|
set yaw_lowpass_hz = 0
|
|
set throttle_boost = 5
|
|
set throttle_boost_cutoff = 15
|
|
set acro_trainer_angle_limit = 20
|
|
set acro_trainer_lookahead_ms = 50
|
|
set acro_trainer_debug_axis = ROLL
|
|
set acro_trainer_gain = 75
|
|
set p_pitch = 46
|
|
set i_pitch = 90
|
|
set d_pitch = 38
|
|
set f_pitch = 95
|
|
set p_roll = 42
|
|
set i_roll = 85
|
|
set d_roll = 35
|
|
set f_roll = 90
|
|
set p_yaw = 45
|
|
set i_yaw = 90
|
|
set d_yaw = 0
|
|
set f_yaw = 90
|
|
set angle_level_strength = 50
|
|
set horizon_level_strength = 50
|
|
set horizon_transition = 75
|
|
set level_limit = 55
|
|
set horizon_tilt_effect = 75
|
|
set horizon_tilt_expert_mode = OFF
|
|
set abs_control_gain = 0
|
|
set abs_control_limit = 90
|
|
set abs_control_error_limit = 20
|
|
set abs_control_cutoff = 11
|
|
set use_integrated_yaw = OFF
|
|
set integrated_yaw_relax = 200
|
|
set d_min_roll = 23
|
|
set d_min_pitch = 25
|
|
set d_min_yaw = 0
|
|
set d_min_boost_gain = 37
|
|
set d_min_advance = 20
|
|
set motor_output_limit = 100
|
|
set auto_profile_cell_count = 0
|
|
set launch_control_mode = NORMAL
|
|
set launch_trigger_allow_reset = ON
|
|
set launch_trigger_throttle_percent = 20
|
|
set launch_angle_limit = 0
|
|
set launch_control_gain = 40
|
|
set ff_interpolate_sp = AVERAGED_2
|
|
set ff_spike_limit = 60
|
|
set ff_max_rate_limit = 100
|
|
set ff_smooth_factor = 37
|
|
set ff_boost = 15
|
|
set idle_min_rpm = 0
|
|
set idle_adjustment_speed = 50
|
|
set idle_p = 50
|
|
set idle_pid_limit = 200
|
|
set idle_max_increase = 150
|
|
set level_race_mode = OFF
|
|
|
|
profile 1
|
|
|
|
# profile 1
|
|
set profile_name = -
|
|
set dyn_lpf_dterm_min_hz = 70
|
|
set dyn_lpf_dterm_max_hz = 170
|
|
set dyn_lpf_dterm_curve_expo = 5
|
|
set dterm_lowpass_type = PT1
|
|
set dterm_lowpass_hz = 150
|
|
set dterm_lowpass2_type = PT1
|
|
set dterm_lowpass2_hz = 150
|
|
set dterm_notch_hz = 0
|
|
set dterm_notch_cutoff = 0
|
|
set vbat_pid_gain = OFF
|
|
set vbat_sag_compensation = 0
|
|
set pid_at_min_throttle = ON
|
|
set anti_gravity_mode = SMOOTH
|
|
set anti_gravity_threshold = 250
|
|
set anti_gravity_gain = 3500
|
|
set feedforward_transition = 0
|
|
set acc_limit_yaw = 0
|
|
set acc_limit = 0
|
|
set crash_dthreshold = 50
|
|
set crash_gthreshold = 400
|
|
set crash_setpoint_threshold = 350
|
|
set crash_time = 500
|
|
set crash_delay = 0
|
|
set crash_recovery_angle = 10
|
|
set crash_recovery_rate = 100
|
|
set crash_limit_yaw = 200
|
|
set crash_recovery = OFF
|
|
set iterm_rotation = OFF
|
|
set iterm_relax = RP
|
|
set iterm_relax_type = SETPOINT
|
|
set iterm_relax_cutoff = 15
|
|
set iterm_windup = 100
|
|
set iterm_limit = 400
|
|
set pidsum_limit = 500
|
|
set pidsum_limit_yaw = 400
|
|
set yaw_lowpass_hz = 0
|
|
set throttle_boost = 5
|
|
set throttle_boost_cutoff = 15
|
|
set acro_trainer_angle_limit = 20
|
|
set acro_trainer_lookahead_ms = 50
|
|
set acro_trainer_debug_axis = ROLL
|
|
set acro_trainer_gain = 75
|
|
set p_pitch = 46
|
|
set i_pitch = 90
|
|
set d_pitch = 38
|
|
set f_pitch = 95
|
|
set p_roll = 42
|
|
set i_roll = 85
|
|
set d_roll = 35
|
|
set f_roll = 90
|
|
set p_yaw = 45
|
|
set i_yaw = 90
|
|
set d_yaw = 0
|
|
set f_yaw = 90
|
|
set angle_level_strength = 50
|
|
set horizon_level_strength = 50
|
|
set horizon_transition = 75
|
|
set level_limit = 55
|
|
set horizon_tilt_effect = 75
|
|
set horizon_tilt_expert_mode = OFF
|
|
set abs_control_gain = 0
|
|
set abs_control_limit = 90
|
|
set abs_control_error_limit = 20
|
|
set abs_control_cutoff = 11
|
|
set use_integrated_yaw = OFF
|
|
set integrated_yaw_relax = 200
|
|
set d_min_roll = 23
|
|
set d_min_pitch = 25
|
|
set d_min_yaw = 0
|
|
set d_min_boost_gain = 37
|
|
set d_min_advance = 20
|
|
set motor_output_limit = 100
|
|
set auto_profile_cell_count = 0
|
|
set launch_control_mode = NORMAL
|
|
set launch_trigger_allow_reset = ON
|
|
set launch_trigger_throttle_percent = 20
|
|
set launch_angle_limit = 0
|
|
set launch_control_gain = 40
|
|
set ff_interpolate_sp = AVERAGED_2
|
|
set ff_spike_limit = 60
|
|
set ff_max_rate_limit = 100
|
|
set ff_smooth_factor = 37
|
|
set ff_boost = 15
|
|
set idle_min_rpm = 0
|
|
set idle_adjustment_speed = 50
|
|
set idle_p = 50
|
|
set idle_pid_limit = 200
|
|
set idle_max_increase = 150
|
|
set level_race_mode = OFF
|
|
|
|
profile 2
|
|
|
|
# profile 2
|
|
set profile_name = -
|
|
set dyn_lpf_dterm_min_hz = 70
|
|
set dyn_lpf_dterm_max_hz = 170
|
|
set dyn_lpf_dterm_curve_expo = 5
|
|
set dterm_lowpass_type = PT1
|
|
set dterm_lowpass_hz = 150
|
|
set dterm_lowpass2_type = PT1
|
|
set dterm_lowpass2_hz = 150
|
|
set dterm_notch_hz = 0
|
|
set dterm_notch_cutoff = 0
|
|
set vbat_pid_gain = OFF
|
|
set vbat_sag_compensation = 0
|
|
set pid_at_min_throttle = ON
|
|
set anti_gravity_mode = SMOOTH
|
|
set anti_gravity_threshold = 250
|
|
set anti_gravity_gain = 3500
|
|
set feedforward_transition = 0
|
|
set acc_limit_yaw = 0
|
|
set acc_limit = 0
|
|
set crash_dthreshold = 50
|
|
set crash_gthreshold = 400
|
|
set crash_setpoint_threshold = 350
|
|
set crash_time = 500
|
|
set crash_delay = 0
|
|
set crash_recovery_angle = 10
|
|
set crash_recovery_rate = 100
|
|
set crash_limit_yaw = 200
|
|
set crash_recovery = OFF
|
|
set iterm_rotation = OFF
|
|
set iterm_relax = RP
|
|
set iterm_relax_type = SETPOINT
|
|
set iterm_relax_cutoff = 15
|
|
set iterm_windup = 100
|
|
set iterm_limit = 400
|
|
set pidsum_limit = 500
|
|
set pidsum_limit_yaw = 400
|
|
set yaw_lowpass_hz = 0
|
|
set throttle_boost = 5
|
|
set throttle_boost_cutoff = 15
|
|
set acro_trainer_angle_limit = 20
|
|
set acro_trainer_lookahead_ms = 50
|
|
set acro_trainer_debug_axis = ROLL
|
|
set acro_trainer_gain = 75
|
|
set p_pitch = 46
|
|
set i_pitch = 90
|
|
set d_pitch = 38
|
|
set f_pitch = 95
|
|
set p_roll = 42
|
|
set i_roll = 85
|
|
set d_roll = 35
|
|
set f_roll = 90
|
|
set p_yaw = 45
|
|
set i_yaw = 90
|
|
set d_yaw = 0
|
|
set f_yaw = 90
|
|
set angle_level_strength = 50
|
|
set horizon_level_strength = 50
|
|
set horizon_transition = 75
|
|
set level_limit = 55
|
|
set horizon_tilt_effect = 75
|
|
set horizon_tilt_expert_mode = OFF
|
|
set abs_control_gain = 0
|
|
set abs_control_limit = 90
|
|
set abs_control_error_limit = 20
|
|
set abs_control_cutoff = 11
|
|
set use_integrated_yaw = OFF
|
|
set integrated_yaw_relax = 200
|
|
set d_min_roll = 23
|
|
set d_min_pitch = 25
|
|
set d_min_yaw = 0
|
|
set d_min_boost_gain = 37
|
|
set d_min_advance = 20
|
|
set motor_output_limit = 100
|
|
set auto_profile_cell_count = 0
|
|
set launch_control_mode = NORMAL
|
|
set launch_trigger_allow_reset = ON
|
|
set launch_trigger_throttle_percent = 20
|
|
set launch_angle_limit = 0
|
|
set launch_control_gain = 40
|
|
set ff_interpolate_sp = AVERAGED_2
|
|
set ff_spike_limit = 60
|
|
set ff_max_rate_limit = 100
|
|
set ff_smooth_factor = 37
|
|
set ff_boost = 15
|
|
set idle_min_rpm = 0
|
|
set idle_adjustment_speed = 50
|
|
set idle_p = 50
|
|
set idle_pid_limit = 200
|
|
set idle_max_increase = 150
|
|
set level_race_mode = OFF
|
|
|
|
# restore original profile selection
|
|
profile 0
|
|
|
|
rateprofile 0
|
|
|
|
# rateprofile 0
|
|
set rateprofile_name = -
|
|
set thr_mid = 50
|
|
set thr_expo = 0
|
|
set rates_type = BETAFLIGHT
|
|
set roll_rc_rate = 100
|
|
set pitch_rc_rate = 100
|
|
set yaw_rc_rate = 100
|
|
set roll_expo = 0
|
|
set pitch_expo = 0
|
|
set yaw_expo = 0
|
|
set roll_srate = 70
|
|
set pitch_srate = 70
|
|
set yaw_srate = 70
|
|
set tpa_rate = 65
|
|
set tpa_breakpoint = 1350
|
|
set tpa_mode = D
|
|
set throttle_limit_type = OFF
|
|
set throttle_limit_percent = 100
|
|
set roll_rate_limit = 1998
|
|
set pitch_rate_limit = 1998
|
|
set yaw_rate_limit = 1998
|
|
|
|
rateprofile 1
|
|
|
|
# rateprofile 1
|
|
set rateprofile_name = -
|
|
set thr_mid = 50
|
|
set thr_expo = 0
|
|
set rates_type = BETAFLIGHT
|
|
set roll_rc_rate = 100
|
|
set pitch_rc_rate = 100
|
|
set yaw_rc_rate = 100
|
|
set roll_expo = 0
|
|
set pitch_expo = 0
|
|
set yaw_expo = 0
|
|
set roll_srate = 70
|
|
set pitch_srate = 70
|
|
set yaw_srate = 70
|
|
set tpa_rate = 65
|
|
set tpa_breakpoint = 1350
|
|
set tpa_mode = D
|
|
set throttle_limit_type = OFF
|
|
set throttle_limit_percent = 100
|
|
set roll_rate_limit = 1998
|
|
set pitch_rate_limit = 1998
|
|
set yaw_rate_limit = 1998
|
|
|
|
rateprofile 2
|
|
|
|
# rateprofile 2
|
|
set rateprofile_name = -
|
|
set thr_mid = 50
|
|
set thr_expo = 0
|
|
set rates_type = BETAFLIGHT
|
|
set roll_rc_rate = 100
|
|
set pitch_rc_rate = 100
|
|
set yaw_rc_rate = 100
|
|
set roll_expo = 0
|
|
set pitch_expo = 0
|
|
set yaw_expo = 0
|
|
set roll_srate = 70
|
|
set pitch_srate = 70
|
|
set yaw_srate = 70
|
|
set tpa_rate = 65
|
|
set tpa_breakpoint = 1350
|
|
set tpa_mode = D
|
|
set throttle_limit_type = OFF
|
|
set throttle_limit_percent = 100
|
|
set roll_rate_limit = 1998
|
|
set pitch_rate_limit = 1998
|
|
set yaw_rate_limit = 1998
|
|
|
|
rateprofile 3
|
|
|
|
# rateprofile 3
|
|
set rateprofile_name = -
|
|
set thr_mid = 50
|
|
set thr_expo = 0
|
|
set rates_type = BETAFLIGHT
|
|
set roll_rc_rate = 100
|
|
set pitch_rc_rate = 100
|
|
set yaw_rc_rate = 100
|
|
set roll_expo = 0
|
|
set pitch_expo = 0
|
|
set yaw_expo = 0
|
|
set roll_srate = 70
|
|
set pitch_srate = 70
|
|
set yaw_srate = 70
|
|
set tpa_rate = 65
|
|
set tpa_breakpoint = 1350
|
|
set tpa_mode = D
|
|
set throttle_limit_type = OFF
|
|
set throttle_limit_percent = 100
|
|
set roll_rate_limit = 1998
|
|
set pitch_rate_limit = 1998
|
|
set yaw_rate_limit = 1998
|
|
|
|
rateprofile 4
|
|
|
|
# rateprofile 4
|
|
set rateprofile_name = -
|
|
set thr_mid = 50
|
|
set thr_expo = 0
|
|
set rates_type = BETAFLIGHT
|
|
set roll_rc_rate = 100
|
|
set pitch_rc_rate = 100
|
|
set yaw_rc_rate = 100
|
|
set roll_expo = 0
|
|
set pitch_expo = 0
|
|
set yaw_expo = 0
|
|
set roll_srate = 70
|
|
set pitch_srate = 70
|
|
set yaw_srate = 70
|
|
set tpa_rate = 65
|
|
set tpa_breakpoint = 1350
|
|
set tpa_mode = D
|
|
set throttle_limit_type = OFF
|
|
set throttle_limit_percent = 100
|
|
set roll_rate_limit = 1998
|
|
set pitch_rate_limit = 1998
|
|
set yaw_rate_limit = 1998
|
|
|
|
rateprofile 5
|
|
|
|
# rateprofile 5
|
|
set rateprofile_name = -
|
|
set thr_mid = 50
|
|
set thr_expo = 0
|
|
set rates_type = BETAFLIGHT
|
|
set roll_rc_rate = 100
|
|
set pitch_rc_rate = 100
|
|
set yaw_rc_rate = 100
|
|
set roll_expo = 0
|
|
set pitch_expo = 0
|
|
set yaw_expo = 0
|
|
set roll_srate = 70
|
|
set pitch_srate = 70
|
|
set yaw_srate = 70
|
|
set tpa_rate = 65
|
|
set tpa_breakpoint = 1350
|
|
set tpa_mode = D
|
|
set throttle_limit_type = OFF
|
|
set throttle_limit_percent = 100
|
|
set roll_rate_limit = 1998
|
|
set pitch_rate_limit = 1998
|
|
set yaw_rate_limit = 1998
|
|
|
|
# restore original rateprofile selection
|
|
rateprofile 0
|
|
|
|
# save configuration
|
|
save
|