diff all

# version
# INAV/MATEKF411SE 7.1.0 Mar 27 2024 / 13:58:03 (59a6ee61)
# GCC-10.3.1 20210824 (release)

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# Timer overrides

# Outputs [servo]
servo 1 850 2150 1550 -100
servo 2 750 1950 1350 100

# safehome

# Fixed Wing Approach

# features
feature THR_VBAT_COMP
feature GPS
feature PWM_OUTPUT_ENABLE
feature FW_LAUNCH
feature FW_AUTOTRIM

# beeper

# blackbox
blackbox -NAV_ACC
blackbox NAV_POS
blackbox NAV_PID
blackbox MAG
blackbox ACC
blackbox ATTI
blackbox RC_DATA
blackbox RC_COMMAND
blackbox MOTORS
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y

# Receiver: Channel map

# Ports
serial 0 2 115200 115200 0 115200
serial 30 2048 115200 115200 0 115200

# LEDs

# LED color

# LED mode_color

# Modes [aux]
aux 0 0 0 1750 2100
aux 1 1 2 900 1250
aux 2 12 2 1775 2100
aux 3 10 3 1700 2100
aux 4 42 4 1700 2100
aux 5 13 3 1700 2100

# Adjustments [adjrange]
adjrange 0 0 7 1150 1250 10 5
adjrange 1 0 7 1250 1350 11 5
adjrange 2 0 7 1350 1450 13 5
adjrange 3 0 7 1450 1550 14 5
adjrange 4 0 7 1550 1650 15 5
adjrange 5 0 7 1650 1775 17 5

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]
osd_layout 0 0 26 1 V
osd_layout 0 1 1 6 V
osd_layout 0 3 8 6 V
osd_layout 0 7 0 11 V
osd_layout 0 8 13 14 H
osd_layout 0 9 0 3 V
osd_layout 0 10 0 12 V
osd_layout 0 11 1 4 V
osd_layout 0 12 1 5 V
osd_layout 0 13 25 8 V
osd_layout 0 14 13 0 V
osd_layout 0 15 25 6 V
osd_layout 0 20 19 0 V
osd_layout 0 21 0 0 V
osd_layout 0 22 15 10 V
osd_layout 0 23 13 11 V
osd_layout 0 25 23 5 V
osd_layout 0 26 25 7 V
osd_layout 0 31 0 1 V
osd_layout 0 32 13 12 V
osd_layout 0 35 1 8 V
osd_layout 0 40 23 12 V
osd_layout 0 45 0 0 V
osd_layout 0 86 0 14 V
osd_layout 0 87 25 14 V
osd_layout 0 105 1 11 H
osd_layout 0 109 23 3 H
osd_layout 0 110 25 3 V
osd_layout 0 111 24 4 V
osd_layout 0 112 24 5 V
osd_layout 1 0 26 2 V
osd_layout 1 1 8 2 H
osd_layout 1 3 8 6 V
osd_layout 1 7 2 6 V
osd_layout 1 8 9 14 H
osd_layout 1 9 2 7 V
osd_layout 1 11 2 9 V
osd_layout 1 13 25 9 V
osd_layout 1 14 2 11 H
osd_layout 1 15 24 6 V
osd_layout 1 16 2 2 V
osd_layout 1 17 2 3 V
osd_layout 1 18 2 4 V
osd_layout 1 20 18 13 V
osd_layout 1 21 1 13 V
osd_layout 1 22 15 9 V
osd_layout 1 23 13 10 V
osd_layout 1 25 22 5 V
osd_layout 1 26 25 7 V
osd_layout 1 28 22 11 H
osd_layout 1 30 1 12 V
osd_layout 1 31 13 13 V
osd_layout 1 32 13 11 V
osd_layout 1 35 2 8 V
osd_layout 1 40 15 10 H
osd_layout 1 53 10 3 H
osd_layout 1 54 12 5 H
osd_layout 1 67 11 1 V
osd_layout 1 68 2 1 V
osd_layout 1 69 20 1 V
osd_layout 1 86 24 14 V
osd_layout 1 87 0 14 V
osd_layout 1 109 24 3 V
osd_layout 1 110 25 4 V
osd_layout 2 0 23 1 H
osd_layout 2 1 13 1 V
osd_layout 2 2 0 0 V
osd_layout 2 9 1 3 H
osd_layout 2 11 2 8 V
osd_layout 2 12 1 10 V
osd_layout 2 13 25 5 V
osd_layout 2 14 8 1 V
osd_layout 2 15 25 6 V
osd_layout 2 16 8 11 H
osd_layout 2 20 3 0 V
osd_layout 2 21 16 0 V
osd_layout 2 22 14 10 V
osd_layout 2 23 24 8 V
osd_layout 2 24 13 3 V
osd_layout 2 26 25 7 V
osd_layout 2 28 23 10 V
osd_layout 2 30 1 11 V
osd_layout 2 31 3 1 V
osd_layout 2 32 13 2 V
osd_layout 2 33 1 7 V
osd_layout 2 34 10 3 H
osd_layout 2 35 2 9 V
osd_layout 2 40 24 9 V
osd_layout 2 50 12 4 H
osd_layout 2 87 1 8 H
osd_layout 2 105 5 6 H
osd_layout 2 110 23 1 V
osd_layout 2 112 24 2 V
osd_layout 3 6 23 9 V
osd_layout 3 7 13 12 V
osd_layout 3 10 2 1 V
osd_layout 3 11 2 5 V
osd_layout 3 12 1 4 V
osd_layout 3 13 7 11 V
osd_layout 3 14 18 1 V
osd_layout 3 20 17 2 V
osd_layout 3 21 2 2 V
osd_layout 3 23 12 11 V
osd_layout 3 30 1 13 V
osd_layout 3 31 12 2 V
osd_layout 3 32 12 1 V
osd_layout 3 45 0 0 V
osd_layout 3 86 22 1 V
osd_layout 3 105 10 1 V
osd_layout 3 109 23 12 V
osd_layout 3 110 23 11 V
osd_layout 3 112 22 10 V

# Programming: logic
logic 0 1 -1 4 1 6 0 0 0
logic 1 1 -1 5 1 6 0 0 0
logic 2 1 -1 6 1 6 0 0 0
logic 3 1 0 25 0 1 0 0 0
logic 4 1 1 25 0 3 0 0 0
logic 5 1 2 25 0 4 0 0 0

# Programming: global variables

# Programming: PID controllers

# OSD: custom elements

# master
set gyro_main_lpf_hz = 25
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set gyro_zero_x = -55
set gyro_zero_y = 16
set gyro_zero_z = -106
set ins_gravity_cmss =  982.954
set acc_hardware = MPU6000
set acczero_x = 28
set acczero_y = -12
set acczero_z = -86
set accgain_x = 4090
set accgain_y = 4105
set accgain_z = 4003
set align_mag = CW270FLIP
set mag_hardware = NONE
set align_mag_pitch = 1800
set align_mag_yaw = -900
set baro_hardware = SPL06
set serialrx_provider = CRSF
set motor_pwm_protocol = STANDARD
set failsafe_procedure = RTH
set align_board_yaw = 900
set servo_pwm_rate = 100
set small_angle = 180
set applied_defaults = 3
set gps_sbas_mode = EGNOS
set gps_ublox_use_galileo = ON
set gps_ublox_use_beidou = ON
set airmode_type = STICK_CENTER_ONCE
set nav_wp_radius = 800
set nav_wp_max_safe_distance = 500
set nav_emerg_landing_speed = 972
set nav_min_rth_distance = 1500
set nav_rth_climb_first = ON_FW_SPIRAL
set nav_rth_allow_landing = FS_ONLY
set nav_rth_altitude = 5000
set nav_rth_home_altitude = 1000
set nav_rth_linear_descent_start_distance = 300
set nav_rth_use_linear_descent = ON
set safehome_usage_mode = OFF
set nav_fw_dive_angle = 25
set fw_min_throttle_down_pitch = 200
set nav_fw_loiter_radius = 15000
set nav_fw_control_smoothness = 2
set nav_fw_launch_motor_delay = 100
set nav_fw_launch_spinup_time = 200
set nav_fw_launch_min_time = 5000
set nav_fw_launch_timeout = 30000
set nav_fw_launch_max_altitude = 3000
set nav_fw_launch_climb_angle = 20
set nav_fw_allow_manual_thr_increase = ON
set vtx_channel = 5
set vtx_low_power_disarm = UNTIL_FIRST_ARM

# mixer_profile
mixer_profile 1

set platform_type = AIRPLANE
set model_preview_type = 8
set motorstop_on_low = ON

# Mixer: motor mixer

mmix reset

mmix 0  1.000  0.000  0.000  0.000

# Mixer: servo mixer
smix reset

smix 0 1 0 50 0 -1
smix 1 1 1 50 0 -1
smix 2 2 0 -50 0 -1
smix 3 2 1 50 0 -1

# profile
profile 1

set fw_p_pitch = 11
set fw_i_pitch = 5
set fw_d_pitch = 1
set fw_ff_pitch = 80
set fw_p_roll = 6
set fw_i_roll = 4
set fw_d_roll = 1
set fw_ff_roll = 27
set fw_p_yaw = 5
set fw_i_yaw = 8
set fw_d_yaw = 20
set fw_ff_yaw = 255
set max_angle_inclination_rll = 600
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.400
set nav_fw_pos_z_p = 25
set nav_fw_pos_z_d = 8
set nav_fw_pos_xy_p = 55
set d_boost_min =  1.000
set d_boost_max =  1.000
set fw_level_pitch_trim =  5.000
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 18
set pitch_rate = 9
set yaw_rate = 3

# profile
profile 2


# profile
profile 3


# battery_profile
battery_profile 1

set bat_cells = 4
set vbat_min_cell_voltage = 300
set throttle_idle =  5.000
set nav_fw_min_thr = 1000

# battery_profile
battery_profile 2


# battery_profile
battery_profile 3


# restore original profile selection
mixer_profile 1
profile 1
battery_profile 1

# save configuration
save

#