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# diff full |
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# version |
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# INAV/SPEEDYBEEF405V3 7.0.0 Oct 29 2023 / 09:23:34 (6c0b501a) |
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# GCC-10.3.1 20210824 (release) |
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# start the command batch |
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batch start |
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# resources |
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# Timer overrides |
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# Outputs [servo] |
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# safehome |
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# features |
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feature -BLACKBOX |
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feature GPS |
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feature LED_STRIP |
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feature PWM_OUTPUT_ENABLE |
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# beeper |
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# blackbox |
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blackbox -NAV_ACC |
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blackbox NAV_POS |
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blackbox NAV_PID |
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blackbox MAG |
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blackbox ACC |
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blackbox ATTI |
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blackbox RC_DATA |
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blackbox RC_COMMAND |
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blackbox MOTORS |
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blackbox -GYRO_RAW |
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blackbox -PEAKS_R |
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blackbox -PEAKS_P |
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blackbox -PEAKS_Y |
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# Receiver: Channel map |
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# Ports |
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serial 0 33554432 115200 115200 0 115200 |
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serial 5 2 115200 115200 0 115200 |
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# LEDs |
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# LED color |
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# LED mode_color |
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# Modes [aux] |
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aux 0 0 0 1800 2100 |
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aux 1 2 1 900 1600 |
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aux 2 2 2 900 1200 |
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aux 3 2 2 1800 2100 |
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aux 4 53 1 900 1200 |
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aux 5 11 2 900 1200 |
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aux 6 10 2 1800 2100 |
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aux 7 3 1 900 1200 |
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aux 8 3 2 900 1200 |
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# Adjustments [adjrange] |
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# Receiver rxrange |
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# temp_sensor |
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# Mission Control Waypoints [wp] |
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#wp 0 invalid |
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# OSD [osd_layout] |
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osd_layout 0 0 23 0 H |
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osd_layout 0 1 12 0 H |
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osd_layout 0 2 0 0 V |
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osd_layout 0 3 8 6 V |
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osd_layout 0 4 8 6 V |
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osd_layout 0 7 3 1 V |
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osd_layout 0 9 18 4 V |
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osd_layout 0 11 3 14 V |
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osd_layout 0 12 8 15 V |
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osd_layout 0 14 36 15 V |
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osd_layout 0 15 27 4 V |
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osd_layout 0 22 25 4 V |
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osd_layout 0 23 27 2 V |
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osd_layout 0 24 19 3 V |
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osd_layout 0 28 3 16 V |
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osd_layout 0 30 12 17 V |
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osd_layout 0 31 44 15 V |
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osd_layout 0 32 7 14 V |
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osd_layout 0 34 21 1 V |
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osd_layout 0 38 3 15 V |
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osd_layout 0 40 9 16 V |
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osd_layout 0 48 3 17 H |
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osd_layout 0 85 28 3 V |
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osd_layout 0 96 19 2 V |
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osd_layout 0 97 36 16 V |
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osd_layout 0 110 3 2 V |
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# Programming: logic |
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# Programming: global variables |
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# Programming: PID controllers |
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# master |
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set looptime = 500 |
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set gyro_main_lpf_hz = 110 |
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set gyro_main_lpf_type = PT1 |
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set gyro_use_dyn_lpf = ON |
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set gyro_dyn_lpf_min_hz = 125 |
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set gyro_dyn_lpf_max_hz = 250 |
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set gyro_dyn_lpf_curve_expo = 3 |
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set dynamic_gyro_notch_q = 300 |
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set dynamic_gyro_notch_min_hz = 120 |
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set dynamic_gyro_notch_mode = 3D |
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set setpoint_kalman_q = 200 |
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set gyro_zero_x = 2 |
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set gyro_zero_y = -3 |
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set gyro_zero_z = 2 |
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set ins_gravity_cmss = 979.296 |
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set acc_hardware = BMI270 |
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set acczero_x = -50 |
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set acczero_y = -9 |
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set acczero_z = 24 |
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set accgain_x = 3942 |
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set accgain_y = 4065 |
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set accgain_z = 4054 |
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set align_mag = CW180FLIP |
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set mag_hardware = QMC5883 |
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set mag_declination = 430 |
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set magzero_x = -8 |
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set magzero_y = -836 |
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set magzero_z = 82 |
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set maggain_x = 1450 |
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set maggain_y = 1459 |
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set maggain_z = 1469 |
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set align_mag_pitch = 1580 |
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set align_mag_yaw = 1800 |
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set baro_hardware = SPL06 |
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set serialrx_provider = CRSF |
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set blackbox_rate_denom = 2 |
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set motor_pwm_protocol = DSHOT300 |
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set failsafe_procedure = RTH |
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set applied_defaults = 2 |
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set gps_sbas_mode = EGNOS |
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set gps_ublox_use_galileo = ON |
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set gps_ublox_use_beidou = ON |
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set airmode_type = THROTTLE_THRESHOLD |
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set nav_auto_speed = 856 |
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set nav_manual_speed = 2000 |
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set nav_land_maxalt_vspd = 400 |
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set nav_rth_alt_control_override = ON |
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set nav_rth_home_altitude = 3000 |
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set nav_rth_linear_descent_start_distance = 100 |
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set nav_rth_use_linear_descent = ON |
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set nav_mc_bank_angle = 45 |
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set nav_mc_braking_timeout = 5000 |
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set nav_mc_braking_bank_angle = 45 |
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set osd_video_system = AVATAR |
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set osd_crsf_lq_format = TYPE2 |
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set osd_switch_indicators_align_left = OFF |
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set i2c_speed = 800KHZ |
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set tz_automatic_dst = EU |
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# mixer_profile |
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mixer_profile 1 |
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set motor_direction_inverted = ON |
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set model_preview_type = 3 |
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# Mixer: motor mixer |
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mmix reset |
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mmix 0 1.000 -1.000 1.000 -1.000 |
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mmix 1 1.000 -1.000 -1.000 1.000 |
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mmix 2 1.000 1.000 1.000 1.000 |
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mmix 3 1.000 1.000 -1.000 -1.000 |
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# Mixer: servo mixer |
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# profile |
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profile 1 |
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set mc_p_pitch = 35 |
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set mc_i_pitch = 45 |
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set mc_cd_pitch = 150 |
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set mc_p_roll = 33 |
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set mc_i_roll = 43 |
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set mc_d_roll = 20 |
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set mc_cd_roll = 135 |
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set mc_p_yaw = 40 |
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set mc_i_yaw = 40 |
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set mc_cd_yaw = 100 |
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set max_angle_inclination_rll = 450 |
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set max_angle_inclination_pit = 450 |
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set dterm_lpf_hz = 135 |
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set pidsum_limit = 1000 |
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set pidsum_limit_yaw = 1000 |
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set d_boost_min = 1.000 |
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set d_boost_max = 1.500 |
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set antigravity_gain = 3.000 |
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set antigravity_accelerator = 5.000 |
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set smith_predictor_delay = 1.447 |
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set tpa_rate = 20 |
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set rc_expo = 80 |
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set rc_yaw_expo = 80 |
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set roll_rate = 100 |
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set pitch_rate = 100 |
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set yaw_rate = 70 |
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# battery_profile |
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battery_profile 1 |
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set battery_capacity = 3200 |
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set battery_capacity_warning = 320 |
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set battery_capacity_critical = 160 |
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set throttle_idle = 5.000 |
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set failsafe_throttle = 1260 |
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set nav_mc_hover_thr = 1350 |
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# save configuration |
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save |
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# end the command batch |
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batch end |
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# |
