diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c index f897d7e580a..012064a22ce 100644 --- a/src/main/sensors/acceleration.c +++ b/src/main/sensors/acceleration.c @@ -37,6 +37,7 @@ #include "drivers/accgyro/accgyro.h" #include "drivers/accgyro/accgyro_mpu.h" #include "drivers/accgyro/accgyro_mpu6000.h" +#include "drivers/accgyro/accgyro_mpu6050.h" #include "drivers/accgyro/accgyro_mpu6500.h" #include "drivers/accgyro/accgyro_mpu9250.h" @@ -130,7 +131,18 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse) switch (accHardwareToUse) { case ACC_AUTODETECT: FALLTHROUGH; - +#ifdef USE_IMU_MPU6050 + case ACC_MPU6050: // MPU6050 + if (mpu6050AccDetect(dev)) { + accHardware = ACC_MPU6050; + break; + } + /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */ + if (accHardwareToUse != ACC_AUTODETECT) { + break; + } + FALLTHROUGH; +#endif #ifdef USE_IMU_MPU6000 case ACC_MPU6000: if (mpu6000AccDetect(dev)) { diff --git a/src/main/target/AOCODARCF7MINI/zohd_aocoda_mini_v1_inav_6_dump.txt b/src/main/target/AOCODARCF7MINI/zohd_aocoda_mini_v1_inav_6_dump.txt deleted file mode 100644 index 9a406d86da5..00000000000 --- a/src/main/target/AOCODARCF7MINI/zohd_aocoda_mini_v1_inav_6_dump.txt +++ /dev/null @@ -1,1677 +0,0 @@ - -# version -# INAV/AOCODARCF7MINI_V1 6.0.0 Nov 7 2022 / 23:21:25 (e29c3904) -# GCC-10.2.1 20201103 (release) - -# start the command batch -batch start - -# resources - -# mixer - -mmix reset - -mmix 0 1.000 0.000 0.000 0.000 - -# servo mixer -smix reset - -smix 0 1 0 100 0 -1 -smix 1 2 1 100 0 -1 - -# servo -servo 0 1000 2000 1500 100 -servo 1 1000 2000 1500 -100 -servo 2 1000 2000 1500 100 -servo 3 1000 2000 1500 100 -servo 4 1000 2000 1500 100 -servo 5 1000 2000 1500 100 -servo 6 1000 2000 1500 100 -servo 7 1000 2000 1500 100 -servo 8 1000 2000 1500 100 -servo 9 1000 2000 1500 100 -servo 10 1000 2000 1500 100 -servo 11 1000 2000 1500 100 -servo 12 1000 2000 1500 100 -servo 13 1000 2000 1500 100 -servo 14 1000 2000 1500 100 -servo 15 1000 2000 1500 100 - -# safehome -safehome 0 0 0 0 -safehome 1 0 0 0 -safehome 2 0 0 0 -safehome 3 0 0 0 -safehome 4 0 0 0 -safehome 5 0 0 0 -safehome 6 0 0 0 -safehome 7 0 0 0 - -# feature -feature -THR_VBAT_COMP -feature -VBAT -feature -TX_PROF_SEL -feature -BAT_PROF_AUTOSWITCH -feature -MOTOR_STOP -feature -SOFTSERIAL -feature -GPS -feature -RPM_FILTERS -feature -TELEMETRY -feature -CURRENT_METER -feature -REVERSIBLE_MOTORS -feature -RSSI_ADC -feature -LED_STRIP -feature -DASHBOARD -feature -BLACKBOX -feature -TRANSPONDER -feature -AIRMODE -feature -SUPEREXPO -feature -VTX -feature -PWM_OUTPUT_ENABLE -feature -OSD -feature -FW_LAUNCH -feature -FW_AUTOTRIM -feature THR_VBAT_COMP -feature VBAT -feature TX_PROF_SEL -feature BAT_PROF_AUTOSWITCH -feature MOTOR_STOP -feature GPS -feature TELEMETRY -feature BLACKBOX -feature AIRMODE -feature PWM_OUTPUT_ENABLE -feature OSD -feature FW_AUTOTRIM - -# beeper -beeper RUNTIME_CALIBRATION -beeper HW_FAILURE -beeper RX_LOST -beeper RX_LOST_LANDING -beeper DISARMING -beeper ARMING -beeper ARMING_GPS_FIX -beeper BAT_CRIT_LOW -beeper BAT_LOW -beeper GPS_STATUS -beeper RX_SET -beeper ACTION_SUCCESS -beeper ACTION_FAIL -beeper READY_BEEP -beeper MULTI_BEEPS -beeper DISARM_REPEAT -beeper ARMED -beeper SYSTEM_INIT -beeper -ON_USB -beeper LAUNCH_MODE -beeper LAUNCH_MODE_LOW_THROTTLE -beeper LAUNCH_MODE_IDLE_START -beeper CAM_CONNECTION_OPEN -beeper CAM_CONNECTION_CLOSED - -# blackbox -blackbox -NAV_ACC -blackbox NAV_POS -blackbox NAV_PID -blackbox MAG -blackbox ACC -blackbox ATTI -blackbox RC_DATA -blackbox RC_COMMAND -blackbox MOTORS -blackbox -GYRO_RAW -blackbox -PEAKS_R -blackbox -PEAKS_P -blackbox -PEAKS_Y - -# map -map AETR - -# serial -serial 20 1 115200 115200 0 115200 -serial 0 0 115200 115200 0 115200 -serial 1 64 115200 115200 0 115200 -serial 2 2 115200 115200 0 115200 -serial 3 0 115200 115200 0 115200 -serial 5 0 115200 115200 0 115200 - -# led -led 0 0,0::C:0 -led 1 0,0::C:0 -led 2 0,0::C:0 -led 3 0,0::C:0 -led 4 0,0::C:0 -led 5 0,0::C:0 -led 6 0,0::C:0 -led 7 0,0::C:0 -led 8 0,0::C:0 -led 9 0,0::C:0 -led 10 0,0::C:0 -led 11 0,0::C:0 -led 12 0,0::C:0 -led 13 0,0::C:0 -led 14 0,0::C:0 -led 15 0,0::C:0 -led 16 0,0::C:0 -led 17 0,0::C:0 -led 18 0,0::C:0 -led 19 0,0::C:0 -led 20 0,0::C:0 -led 21 0,0::C:0 -led 22 0,0::C:0 -led 23 0,0::C:0 -led 24 0,0::C:0 -led 25 0,0::C:0 -led 26 0,0::C:0 -led 27 0,0::C:0 -led 28 0,0::C:0 -led 29 0,0::C:0 -led 30 0,0::C:0 -led 31 0,0::C:0 - -# color -color 0 0,0,0 -color 1 0,255,255 -color 2 0,0,255 -color 3 30,0,255 -color 4 60,0,255 -color 5 90,0,255 -color 6 120,0,255 -color 7 150,0,255 -color 8 180,0,255 -color 9 210,0,255 -color 10 240,0,255 -color 11 270,0,255 -color 12 300,0,255 -color 13 330,0,255 -color 14 0,0,0 -color 15 0,0,0 - -# mode_color -mode_color 0 0 1 -mode_color 0 1 11 -mode_color 0 2 2 -mode_color 0 3 13 -mode_color 0 4 10 -mode_color 0 5 3 -mode_color 1 0 5 -mode_color 1 1 11 -mode_color 1 2 3 -mode_color 1 3 13 -mode_color 1 4 10 -mode_color 1 5 3 -mode_color 2 0 10 -mode_color 2 1 11 -mode_color 2 2 4 -mode_color 2 3 13 -mode_color 2 4 10 -mode_color 2 5 3 -mode_color 3 0 8 -mode_color 3 1 11 -mode_color 3 2 4 -mode_color 3 3 13 -mode_color 3 4 10 -mode_color 3 5 3 -mode_color 4 0 7 -mode_color 4 1 11 -mode_color 4 2 3 -mode_color 4 3 13 -mode_color 4 4 10 -mode_color 4 5 3 -mode_color 5 0 9 -mode_color 5 1 11 -mode_color 5 2 2 -mode_color 5 3 13 -mode_color 5 4 10 -mode_color 5 5 3 -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 6 6 3 -mode_color 6 7 6 -mode_color 6 8 0 -mode_color 6 9 0 -mode_color 6 10 0 - -# aux -aux 0 0 1 1300 2100 -aux 1 1 0 900 1675 -aux 2 10 0 1625 2100 -aux 3 21 3 1300 1700 -aux 4 54 3 900 1275 -aux 5 36 0 900 1175 -aux 6 13 2 1625 2100 -aux 7 0 0 900 900 -aux 8 0 0 900 900 -aux 9 0 0 900 900 -aux 10 0 0 900 900 -aux 11 0 0 900 900 -aux 12 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-osd_layout 3 72 2 12 H -osd_layout 3 73 2 12 H -osd_layout 3 74 2 12 H -osd_layout 3 75 2 12 H -osd_layout 3 76 2 12 H -osd_layout 3 77 2 12 H -osd_layout 3 78 0 0 H -osd_layout 3 79 2 12 H -osd_layout 3 80 2 12 H -osd_layout 3 81 2 12 H -osd_layout 3 82 2 12 H -osd_layout 3 83 2 12 H -osd_layout 3 84 2 12 H -osd_layout 3 85 23 1 H -osd_layout 3 86 19 2 H -osd_layout 3 87 19 3 H -osd_layout 3 88 19 4 H -osd_layout 3 89 19 5 H -osd_layout 3 90 19 6 H -osd_layout 3 91 19 7 H -osd_layout 3 92 19 8 H -osd_layout 3 93 19 9 H -osd_layout 3 94 19 10 H -osd_layout 3 95 19 11 H -osd_layout 3 96 0 0 H -osd_layout 3 97 0 12 H -osd_layout 3 98 0 0 H -osd_layout 3 99 0 0 H -osd_layout 3 100 12 4 H -osd_layout 3 101 12 5 H -osd_layout 3 102 12 6 H -osd_layout 3 103 12 7 H -osd_layout 3 104 0 0 H -osd_layout 3 105 3 5 H -osd_layout 3 106 1 2 H -osd_layout 3 107 1 3 H -osd_layout 3 108 2 12 H -osd_layout 3 109 23 12 H -osd_layout 3 110 23 11 H -osd_layout 3 111 24 9 H -osd_layout 3 112 24 10 H -osd_layout 3 113 1 1 H -osd_layout 3 114 1 2 H -osd_layout 3 115 1 3 H -osd_layout 3 116 1 4 H -osd_layout 3 117 0 0 H -osd_layout 3 118 0 0 H -osd_layout 3 119 0 0 H -osd_layout 3 120 0 0 H -osd_layout 3 121 3 4 H -osd_layout 3 122 3 5 H -osd_layout 3 123 3 6 H -osd_layout 3 124 23 2 H -osd_layout 3 125 0 0 H -osd_layout 3 126 0 0 H -osd_layout 3 127 0 0 H -osd_layout 3 128 0 0 H -osd_layout 3 129 0 10 H -osd_layout 3 130 2 7 H -osd_layout 3 131 2 8 H -osd_layout 3 132 2 9 H -osd_layout 3 133 2 10 H -osd_layout 3 134 0 0 H -osd_layout 3 135 0 0 H -osd_layout 3 136 0 0 H -osd_layout 3 137 0 0 H -osd_layout 3 138 0 0 H -osd_layout 3 139 0 0 H - -# logic -logic 0 0 -1 0 0 0 0 0 0 -logic 1 0 -1 0 0 0 0 0 0 -logic 2 0 -1 0 0 0 0 0 0 -logic 3 0 -1 0 0 0 0 0 0 -logic 4 0 -1 0 0 0 0 0 0 -logic 5 0 -1 0 0 0 0 0 0 -logic 6 0 -1 0 0 0 0 0 0 -logic 7 0 -1 0 0 0 0 0 0 -logic 8 0 -1 0 0 0 0 0 0 -logic 9 0 -1 0 0 0 0 0 0 -logic 10 0 -1 0 0 0 0 0 0 -logic 11 0 -1 0 0 0 0 0 0 -logic 12 0 -1 0 0 0 0 0 0 -logic 13 0 -1 0 0 0 0 0 0 -logic 14 0 -1 0 0 0 0 0 0 -logic 15 0 -1 0 0 0 0 0 0 -logic 16 0 -1 0 0 0 0 0 0 -logic 17 0 -1 0 0 0 0 0 0 -logic 18 0 -1 0 0 0 0 0 0 -logic 19 0 -1 0 0 0 0 0 0 -logic 20 0 -1 0 0 0 0 0 0 -logic 21 0 -1 0 0 0 0 0 0 -logic 22 0 -1 0 0 0 0 0 0 -logic 23 0 -1 0 0 0 0 0 0 -logic 24 0 -1 0 0 0 0 0 0 -logic 25 0 -1 0 0 0 0 0 0 -logic 26 0 -1 0 0 0 0 0 0 -logic 27 0 -1 0 0 0 0 0 0 -logic 28 0 -1 0 0 0 0 0 0 -logic 29 0 -1 0 0 0 0 0 0 -logic 30 0 -1 0 0 0 0 0 0 -logic 31 0 -1 0 0 0 0 0 0 -logic 32 0 -1 0 0 0 0 0 0 -logic 33 0 -1 0 0 0 0 0 0 -logic 34 0 -1 0 0 0 0 0 0 -logic 35 0 -1 0 0 0 0 0 0 -logic 36 0 -1 0 0 0 0 0 0 -logic 37 0 -1 0 0 0 0 0 0 -logic 38 0 -1 0 0 0 0 0 0 -logic 39 0 -1 0 0 0 0 0 0 -logic 40 0 -1 0 0 0 0 0 0 -logic 41 0 -1 0 0 0 0 0 0 -logic 42 0 -1 0 0 0 0 0 0 -logic 43 0 -1 0 0 0 0 0 0 -logic 44 0 -1 0 0 0 0 0 0 -logic 45 0 -1 0 0 0 0 0 0 -logic 46 0 -1 0 0 0 0 0 0 -logic 47 0 -1 0 0 0 0 0 0 -logic 48 0 -1 0 0 0 0 0 0 -logic 49 0 -1 0 0 0 0 0 0 -logic 50 0 -1 0 0 0 0 0 0 -logic 51 0 -1 0 0 0 0 0 0 -logic 52 0 -1 0 0 0 0 0 0 -logic 53 0 -1 0 0 0 0 0 0 -logic 54 0 -1 0 0 0 0 0 0 -logic 55 0 -1 0 0 0 0 0 0 -logic 56 0 -1 0 0 0 0 0 0 -logic 57 0 -1 0 0 0 0 0 0 -logic 58 0 -1 0 0 0 0 0 0 -logic 59 0 -1 0 0 0 0 0 0 -logic 60 0 -1 0 0 0 0 0 0 -logic 61 0 -1 0 0 0 0 0 0 -logic 62 0 -1 0 0 0 0 0 0 -logic 63 0 -1 0 0 0 0 0 0 - -# global vars -gvar 0 0 -32768 32767 -gvar 1 0 -32768 32767 -gvar 2 0 -32768 32767 -gvar 3 0 -32768 32767 -gvar 4 0 -32768 32767 -gvar 5 0 -32768 32767 -gvar 6 0 -32768 32767 -gvar 7 0 -32768 32767 - -# programmable pid controllers -pid 0 0 0 0 0 0 0 0 0 0 -pid 1 0 0 0 0 0 0 0 0 0 -pid 2 0 0 0 0 0 0 0 0 0 -pid 3 0 0 0 0 0 0 0 0 0 - -# master -set looptime = 1000 -set gyro_hardware_lpf = 256HZ -set gyro_anti_aliasing_lpf_hz = 250 -set gyro_anti_aliasing_lpf_type = PT1 -set moron_threshold = 32 -set gyro_main_lpf_hz = 25 -set gyro_main_lpf_type = BIQUAD -set gyro_use_dyn_lpf = OFF -set gyro_dyn_lpf_min_hz = 200 -set gyro_dyn_lpf_max_hz = 500 -set gyro_dyn_lpf_curve_expo = 5 -set dynamic_gyro_notch_enabled = ON -set dynamic_gyro_notch_q = 250 -set dynamic_gyro_notch_min_hz = 30 -set dynamic_gyro_notch_mode = 2D -set dynamic_gyro_notch_3d_q = 200 -set setpoint_kalman_enabled = ON -set setpoint_kalman_q = 100 -set init_gyro_cal = ON -set gyro_zero_x = -3 -set gyro_zero_y = 25 -set gyro_zero_z = 1 -set ins_gravity_cmss = 992.219 -set vbat_adc_channel = 1 -set rssi_adc_channel = 3 -set current_adc_channel = 2 -set airspeed_adc_channel = 0 -set acc_notch_hz = 0 -set acc_notch_cutoff = 1 -set acc_hardware = MPU6500 -set acc_lpf_hz = 15 -set acc_lpf_type = BIQUAD -set acczero_x = 65 -set acczero_y = 22 -set acczero_z = -47 -set accgain_x = 4099 -set accgain_y = 4092 -set accgain_z = 4041 -set rangefinder_hardware = NONE -set rangefinder_median_filter = OFF -set opflow_hardware = NONE -set opflow_scale = 10.500 -set align_opflow = CW0FLIP -set align_mag = CW270FLIP -set mag_hardware = NONE -set mag_declination = 0 -set magzero_x = 0 -set magzero_y = 0 -set magzero_z = 0 -set maggain_x = 1024 -set maggain_y = 1024 -set maggain_z = 1024 -set mag_calibration_time = 30 -set align_mag_roll = 0 -set align_mag_pitch = 0 -set align_mag_yaw = 0 -set baro_hardware = BMP280 -set baro_cal_tolerance = 150 -set pitot_hardware = NONE -set pitot_lpf_milli_hz = 350 -set pitot_scale = 1.000 -set receiver_type = SERIAL -set min_check = 1100 -set max_check = 1900 -set rssi_source = AUTO -set rssi_channel = 0 -set rssi_min = 0 -set rssi_max = 100 -set sbus_sync_interval = 3000 -set rc_filter_lpf_hz = 50 -set rc_filter_auto = OFF -set rc_filter_smoothing_factor = 30 -set serialrx_provider = SBUS -set serialrx_inverted = OFF -set srxl2_unit_id = 1 -set srxl2_baud_fast = ON -set rx_min_usec = 885 -set rx_max_usec = 2115 -set serialrx_halfduplex = AUTO -set blackbox_rate_num = 1 -set blackbox_rate_denom = 1 -set blackbox_device = SPIFLASH -set max_throttle = 1850 -set min_command = 1000 -set motor_pwm_rate = 16000 -set motor_pwm_protocol = STANDARD -set motor_poles = 14 -set failsafe_delay = 5 -set failsafe_recovery_delay = 5 -set failsafe_off_delay = 200 -set failsafe_throttle_low_delay = 0 -set failsafe_procedure = RTH -set failsafe_stick_threshold = 50 -set failsafe_fw_roll_angle = -200 -set failsafe_fw_pitch_angle = 100 -set failsafe_fw_yaw_rate = -45 -set failsafe_min_distance = 0 -set failsafe_min_distance_procedure = DROP -set failsafe_mission_delay = 0 -set align_board_roll = 0 -set align_board_pitch = 0 -set align_board_yaw = 2700 -set vbat_meter_type = ADC -set vbat_scale = 1100 -set current_meter_scale = 400 -set current_meter_offset = 0 -set current_meter_type = ADC -set bat_voltage_src = RAW -set cruise_power = 1000 -set idle_power = 0 -set rth_energy_margin = 9 -set thr_comp_weight = 1.000 -set motor_direction_inverted = OFF -set platform_type = AIRPLANE -set has_flaps = ON -set model_preview_type = 30 -set output_mode = AUTO -set 3d_deadband_low = 1406 -set 3d_deadband_high = 1514 -set 3d_neutral = 1460 -set servo_protocol = PWM -set servo_center_pulse = 1500 -set servo_pwm_rate = 50 -set servo_lpf_hz = 20 -set flaperon_throw_offset = 200 -set tri_unarmed_servo = ON -set servo_autotrim_rotation_limit = 15 -set reboot_character = 82 -set imu_dcm_kp = 2000 -set imu_dcm_ki = 50 -set imu_dcm_kp_mag = 2000 -set imu_dcm_ki_mag = 50 -set small_angle = 180 -set imu_acc_ignore_rate = 15 -set imu_acc_ignore_slope = 10 -set imu_gps_yaw_windcomp = ON -set imu_inertia_comp_method = ADAPTIVE -set fixed_wing_auto_arm = OFF -set disarm_kill_switch = ON -set switch_disarm_delay = 250 -set prearm_timeout = 10000 -set applied_defaults = 3 -set rpm_gyro_filter_enabled = OFF -set rpm_gyro_harmonics = 1 -set rpm_gyro_min_hz = 100 -set rpm_gyro_q = 500 -set gps_provider = UBLOX7 -set gps_sbas_mode = AUTO -set gps_dyn_model = AIR_1G -set gps_auto_config = ON -set gps_auto_baud = ON -set gps_ublox_use_galileo = ON -set gps_min_sats = 6 -set deadband = 5 -set yaw_deadband = 5 -set pos_hold_deadband = 10 -set control_deadband = 10 -set alt_hold_deadband = 50 -set 3d_deadband_throttle = 50 -set airmode_type = STICK_CENTER_ONCE -set airmode_throttle_threshold = 1150 -set fw_autotune_min_stick = 50 -set fw_autotune_rate_adjustment = AUTO -set fw_autotune_max_rate_deflection = 80 -set inav_auto_mag_decl = ON -set inav_gravity_cal_tolerance = 5 -set inav_use_gps_velned = ON -set inav_use_gps_no_baro = OFF -set inav_allow_dead_reckoning = OFF -set inav_reset_altitude = FIRST_ARM -set inav_reset_home = FIRST_ARM -set inav_max_surface_altitude = 200 -set inav_w_z_surface_p = 3.500 -set inav_w_z_surface_v = 6.100 -set inav_w_xy_flow_p = 1.000 -set inav_w_xy_flow_v = 2.000 -set inav_w_z_baro_p = 0.350 -set inav_w_z_gps_p = 0.200 -set inav_w_z_gps_v = 0.100 -set inav_w_xy_gps_p = 1.000 -set inav_w_xy_gps_v = 2.000 -set inav_w_z_res_v = 0.500 -set inav_w_xy_res_v = 0.500 -set inav_w_xyz_acc_p = 1.000 -set inav_w_acc_bias = 0.010 -set inav_max_eph_epv = 1000.000 -set inav_baro_epv = 100.000 -set nav_disarm_on_landing = OFF -set nav_land_detect_sensitivity = 5 -set nav_use_midthr_for_althold = OFF -set nav_extra_arming_safety = ON -set nav_user_control_mode = ATTI -set nav_position_timeout = 5 -set nav_wp_load_on_boot = OFF -set nav_wp_radius = 4999 -set nav_wp_enforce_altitude = 0 -set nav_wp_safe_distance = 10000 -set nav_wp_mission_restart = RESUME -set nav_wp_multi_mission_index = 1 -set nav_fw_wp_tracking_accuracy = 0 -set nav_fw_wp_tracking_max_angle = 60 -set nav_fw_wp_turn_smoothing = OFF -set nav_auto_speed = 300 -set nav_max_auto_speed = 1001 -set nav_auto_climb_rate = 500 -set nav_manual_speed = 501 -set nav_manual_climb_rate = 201 -set nav_land_minalt_vspd = 70 -set nav_land_maxalt_vspd = 201 -set nav_land_slowdown_minalt = 500 -set nav_land_slowdown_maxalt = 1999 -set nav_emerg_landing_speed = 501 -set nav_min_rth_distance = 500 -set nav_overrides_motor_stop = ALL_NAV -set nav_fw_soaring_motor_stop = OFF -set nav_fw_soaring_pitch_deadband = 5 -set nav_rth_climb_first = ON -set nav_rth_climb_first_stage_mode = AT_LEAST -set nav_rth_climb_first_stage_altitude = 0 -set nav_rth_climb_ignore_emerg = OFF -set nav_rth_tail_first = OFF -set nav_rth_allow_landing = FS_ONLY -set nav_rth_alt_mode = AT_LEAST -set nav_rth_alt_control_override = OFF -set nav_rth_abort_threshold = 49999 -set nav_max_terrain_follow_alt = 100 -set nav_max_altitude = 0 -set nav_rth_altitude = 3048 -set nav_rth_home_altitude = 1951 -set nav_rth_trackback_mode = OFF -set nav_rth_trackback_distance = 500 -set safehome_max_distance = 20000 -set safehome_usage_mode = RTH -set nav_mission_planner_reset = ON -set nav_mc_bank_angle = 30 -set nav_auto_disarm_delay = 2000 -set nav_mc_braking_speed_threshold = 98 -set nav_mc_braking_disengage_speed = 76 -set nav_mc_braking_timeout = 2000 -set nav_mc_braking_boost_factor = 100 -set nav_mc_braking_boost_timeout = 750 -set nav_mc_braking_boost_speed_threshold = 152 -set nav_mc_braking_boost_disengage_speed = 98 -set nav_mc_braking_bank_angle = 40 -set nav_mc_pos_deceleration_time = 120 -set nav_mc_pos_expo = 10 -set nav_mc_wp_slowdown = ON -set nav_fw_bank_angle = 35 -set nav_fw_climb_angle = 20 -set nav_fw_dive_angle = 15 -set nav_fw_pitch2thr_smoothing = 6 -set nav_fw_pitch2thr_threshold = 50 -set nav_fw_loiter_radius = 7501 -set nav_fw_cruise_speed = 894 -set nav_fw_control_smoothness = 2 -set nav_fw_land_dive_angle = 2 -set nav_fw_launch_velocity = 300 -set nav_fw_launch_accel = 1863 -set nav_fw_launch_max_angle = 45 -set nav_fw_launch_detect_time = 40 -set nav_fw_launch_idle_motor_delay = 0 -set nav_fw_launch_motor_delay = 100 -set nav_fw_launch_spinup_time = 100 -set nav_fw_launch_end_time = 3000 -set nav_fw_launch_min_time = 0 -set nav_fw_launch_timeout = 5000 -set nav_fw_launch_max_altitude = 4999 -set nav_fw_launch_climb_angle = 25 -set nav_fw_launch_manual_throttle = OFF -set nav_fw_launch_abort_deadband = 100 -set nav_fw_cruise_yaw_rate = 20 -set nav_fw_allow_manual_thr_increase = ON -set nav_use_fw_yaw_control = OFF -set nav_fw_yaw_deadband = 0 -set telemetry_switch = OFF -set telemetry_inverted = OFF -set frsky_default_latitude = 0.000 -set frsky_default_longitude = 0.000 -set frsky_coordinates_format = 0 -set frsky_unit = METRIC -set frsky_vfas_precision = 0 -set frsky_pitch_roll = OFF -set report_cell_voltage = OFF -set hott_alarm_sound_interval = 5 -set telemetry_halfduplex = ON -set smartport_fuel_unit = MAH -set ibus_telemetry_type = 0 -set ltm_update_rate = NORMAL -set sim_ground_station_number = -set sim_pin = 0000 -set sim_transmit_interval = 60 -set sim_transmit_flags = 2 -set acc_event_threshold_high = 0 -set acc_event_threshold_low = 0 -set acc_event_threshold_neg_x = 0 -set sim_low_altitude = -32767 -set mavlink_ext_status_rate = 2 -set mavlink_rc_chan_rate = 5 -set mavlink_pos_rate = 2 -set mavlink_extra1_rate = 10 -set mavlink_extra2_rate = 2 -set mavlink_extra3_rate = 1 -set mavlink_version = 2 -set ledstrip_visual_beeper = OFF -set osd_telemetry = OFF -set osd_video_system = PAL -set osd_row_shiftdown = 0 -set osd_units = IMPERIAL -set osd_stats_energy_unit = MAH -set osd_stats_min_voltage_unit = BATTERY -set osd_stats_page_auto_swap_time = 3 -set osd_rssi_alarm = 20 -set osd_time_alarm = 10 -set osd_alt_alarm = 100 -set osd_dist_alarm = 999 -set osd_neg_alt_alarm = 5 -set osd_current_alarm = 0 -set osd_gforce_alarm = 5.000 -set osd_gforce_axis_alarm_min = -5.000 -set osd_gforce_axis_alarm_max = 5.000 -set osd_imu_temp_alarm_min = -200 -set osd_imu_temp_alarm_max = 600 -set osd_esc_temp_alarm_max = 900 -set osd_esc_temp_alarm_min = -200 -set osd_baro_temp_alarm_min = -200 -set osd_baro_temp_alarm_max = 600 -set osd_snr_alarm = 4 -set osd_link_quality_alarm = 70 -set osd_rssi_dbm_alarm = 0 -set osd_rssi_dbm_max = -30 -set osd_rssi_dbm_min = -120 -set osd_temp_label_align = LEFT -set osd_airspeed_alarm_min = 0.000 -set osd_airspeed_alarm_max = 0.000 -set osd_ahi_reverse_roll = OFF -set osd_ahi_max_pitch = 20 -set osd_crosshairs_style = DEFAULT -set osd_crsf_lq_format = TYPE1 -set osd_horizon_offset = 0 -set osd_camera_uptilt = 0 -set osd_ahi_camera_uptilt_comp = OFF -set osd_camera_fov_h = 135 -set osd_camera_fov_v = 85 -set osd_hud_margin_h = 3 -set osd_hud_margin_v = 3 -set osd_hud_homing = OFF -set osd_hud_homepoint = OFF -set osd_hud_radar_disp = 0 -set osd_hud_radar_range_min = 3 -set osd_hud_radar_range_max = 4000 -set osd_hud_radar_alt_difference_display_time = 3 -set osd_hud_radar_distance_display_time = 3 -set osd_hud_wp_disp = 0 -set osd_left_sidebar_scroll = NONE -set osd_right_sidebar_scroll = NONE -set osd_sidebar_scroll_arrows = OFF -set osd_main_voltage_decimals = 1 -set osd_coordinate_digits = 9 -set osd_estimations_wind_compensation = ON -set osd_failsafe_switch_layout = OFF -set osd_plus_code_digits = 11 -set osd_plus_code_short = 0 -set osd_ahi_style = DEFAULT -set osd_force_grid = OFF -set osd_ahi_bordered = OFF -set osd_ahi_width = 132 -set osd_ahi_height = 162 -set osd_ahi_vertical_offset = -18 -set osd_sidebar_horizontal_offset = 0 -set osd_left_sidebar_scroll_step = 0 -set osd_right_sidebar_scroll_step = 0 -set osd_sidebar_height = 3 -set osd_home_position_arm_screen = ON -set osd_pan_servo_index = 0 -set osd_pan_servo_pwm2centideg = 0 -set osd_esc_rpm_precision = 3 -set osd_mah_used_precision = 4 -set osd_switch_indicator_zero_name = FLAP -set osd_switch_indicator_one_name = GEAR -set osd_switch_indicator_two_name = CAM -set osd_switch_indicator_three_name = LIGT -set osd_switch_indicator_zero_channel = 5 -set osd_switch_indicator_one_channel = 5 -set osd_switch_indicator_two_channel = 5 -set osd_switch_indicator_three_channel = 5 -set osd_switch_indicators_align_left = ON -set osd_system_msg_display_time = 1000 -set osd_speed_source = GROUND -set i2c_speed = 400KHZ -set debug_mode = NONE -set throttle_tilt_comp_str = 0 -set name = -set mode_range_logic_operator = OR -set stats = OFF -set stats_total_time = 0 -set stats_total_dist = 0 -set stats_total_energy = 0 -set tz_offset = 0 -set tz_automatic_dst = OFF -set display_force_sw_blink = OFF -set vtx_halfduplex = ON -set vtx_smartaudio_early_akk_workaround = ON -set vtx_smartaudio_alternate_softserial_method = ON -set vtx_softserial_shortstop = OFF -set vtx_smartaudio_stopbits = 2 -set vtx_band = 1 -set vtx_channel = 1 -set vtx_power = 1 -set vtx_low_power_disarm = OFF -set vtx_pit_mode_chan = 1 -set vtx_max_power_override = 0 -set vtx_frequency_group = FREQUENCYGROUP_5G8 -set log_level = ERROR -set log_topics = 0 -set esc_sensor_listen_only = OFF -set smartport_master_halfduplex = ON -set smartport_master_inverted = OFF -set dji_workarounds = 1 -set dji_use_name_for_messages = ON -set dji_esc_temp_source = ESC -set dji_message_speed_source = 3D -set dji_rssi_source = RSSI -set dji_use_adjustments = OFF -set dji_cn_alternating_duration = 30 -set dshot_beeper_enabled = ON -set dshot_beeper_tone = 1 -set beeper_pwm_mode = OFF -set limit_pi_p = 100 -set limit_pi_i = 100 -set limit_attn_filter_cutoff = 1.200 - -# profile -profile 1 - -set mc_p_pitch = 40 -set mc_i_pitch = 30 -set mc_d_pitch = 23 -set mc_cd_pitch = 60 -set mc_p_roll = 40 -set mc_i_roll = 30 -set mc_d_roll = 23 -set mc_cd_roll = 60 -set mc_p_yaw = 85 -set mc_i_yaw = 45 -set mc_d_yaw = 0 -set mc_cd_yaw = 60 -set mc_p_level = 20 -set mc_i_level = 15 -set mc_d_level = 75 -set fw_p_pitch = 15 -set fw_i_pitch = 5 -set fw_d_pitch = 5 -set fw_ff_pitch = 80 -set fw_p_roll = 15 -set fw_i_roll = 3 -set fw_d_roll = 7 -set fw_ff_roll = 50 -set fw_p_yaw = 50 -set fw_i_yaw = 0 -set fw_d_yaw = 20 -set fw_ff_yaw = 255 -set fw_p_level = 20 -set fw_i_level = 5 -set fw_d_level = 75 -set max_angle_inclination_rll = 450 -set max_angle_inclination_pit = 300 -set dterm_lpf_hz = 10 -set dterm_lpf_type = PT2 -set dterm_lpf2_hz = 0 -set dterm_lpf2_type = PT1 -set yaw_lpf_hz = 0 -set fw_iterm_throw_limit = 165 -set fw_loiter_direction = RIGHT -set fw_reference_airspeed = 1500.000 -set fw_turn_assist_yaw_gain = 1.000 -set fw_turn_assist_pitch_gain = 0.400 -set fw_iterm_limit_stick_position = 0.500 -set fw_yaw_iterm_freeze_bank_angle = 0 -set pidsum_limit = 500 -set pidsum_limit_yaw = 350 -set iterm_windup = 50 -set rate_accel_limit_roll_pitch = 0 -set rate_accel_limit_yaw = 10000 -set heading_hold_rate_limit = 90 -set nav_mc_pos_z_p = 50 -set nav_mc_vel_z_p = 100 -set nav_mc_vel_z_i = 50 -set nav_mc_vel_z_d = 10 -set nav_mc_pos_xy_p = 65 -set nav_mc_vel_xy_p = 40 -set nav_mc_vel_xy_i = 15 -set nav_mc_vel_xy_d = 100 -set nav_mc_vel_xy_ff = 40 -set nav_mc_heading_p = 60 -set nav_mc_vel_xy_dterm_lpf_hz = 2.000 -set nav_mc_vel_xy_dterm_attenuation = 90 -set nav_mc_vel_xy_dterm_attenuation_start = 10 -set nav_mc_vel_xy_dterm_attenuation_end = 60 -set nav_fw_pos_z_p = 25 -set nav_fw_pos_z_i = 5 -set nav_fw_pos_z_d = 8 -set nav_fw_pos_xy_p = 55 -set nav_fw_pos_xy_i = 5 -set nav_fw_pos_xy_d = 8 -set nav_fw_heading_p = 60 -set nav_fw_pos_hdg_p = 30 -set nav_fw_pos_hdg_i = 2 -set nav_fw_pos_hdg_d = 0 -set nav_fw_pos_hdg_pidsum_limit = 350 -set mc_iterm_relax = RP -set mc_iterm_relax_cutoff = 15 -set d_boost_min = 1.000 -set d_boost_max = 1.000 -set d_boost_max_at_acceleration = 7500.000 -set d_boost_gyro_delta_lpf_hz = 80 -set antigravity_gain = 1.000 -set antigravity_accelerator = 1.000 -set antigravity_cutoff_lpf_hz = 15 -set pid_type = AUTO -set mc_cd_lpf_hz = 30 -set fw_level_pitch_trim = 0.000 -set smith_predictor_strength = 0.500 -set smith_predictor_delay = 0.000 -set smith_predictor_lpf_hz = 50 -set fw_level_pitch_gain = 5.000 -set thr_mid = 50 -set thr_expo = 0 -set tpa_rate = 0 -set tpa_breakpoint = 1500 -set fw_tpa_time_constant = 1500 -set rc_expo = 30 -set rc_yaw_expo = 30 -set roll_rate = 18 -set pitch_rate = 9 -set yaw_rate = 3 -set manual_rc_expo = 35 -set manual_rc_yaw_expo = 20 -set manual_roll_rate = 100 -set manual_pitch_rate = 100 -set manual_yaw_rate = 100 -set fpv_mix_degrees = 0 -set rate_dynamics_center_sensitivity = 100 -set rate_dynamics_end_sensitivity = 100 -set rate_dynamics_center_correction = 10 -set rate_dynamics_end_correction = 10 -set rate_dynamics_center_weight = 0 -set rate_dynamics_end_weight = 0 - -# battery_profile -battery_profile 1 - -set bat_cells = 0 -set vbat_cell_detect_voltage = 425 -set vbat_max_cell_voltage = 420 -set vbat_min_cell_voltage = 330 -set vbat_warning_cell_voltage = 350 -set battery_capacity = 0 -set battery_capacity_warning = 0 -set battery_capacity_critical = 0 -set battery_capacity_unit = MAH -set controlrate_profile = 0 -set throttle_scale = 1.000 -set throttle_idle = 5.000 -set turtle_mode_power_factor = 55 -set failsafe_throttle = 1000 -set fw_min_throttle_down_pitch = 0 -set nav_mc_hover_thr = 1500 -set nav_fw_cruise_thr = 1400 -set nav_fw_min_thr = 1200 -set nav_fw_max_thr = 1700 -set nav_fw_pitch2thr = 10 -set nav_fw_launch_thr = 1700 -set nav_fw_launch_idle_thr = 1000 -set limit_cont_current = 0 -set limit_burst_current = 0 -set limit_burst_current_time = 0 -set limit_burst_current_falldown_time = 0 -set limit_cont_power = 0 -set limit_burst_power = 0 -set limit_burst_power_time = 0 -set limit_burst_power_falldown_time = 0 - -# save configuration -save - -# end the command batch -batch end - -#