# diff

# version
# INAV/SPEEDYBEEF405WING 8.0.1

# start the command batch
batch start

# resources

# Timer overrides
timer_output_mode 2 SERVOS
timer_output_mode 3 MOTORS
timer_output_mode 7 SERVOS

# Outputs [servo]
servo 1 1100 1900 1552 -100
servo 2 1100 1900 1480 100
servo 3 1100 1900 1448 100

# safehome

# Fixed Wing Approach

# geozone

# geozone vertices

# features
feature THR_VBAT_COMP
feature GPS
feature PWM_OUTPUT_ENABLE
feature FW_AUTOTRIM

# beeper
beeper -ON_USB

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

# Receiver: Channel map

# Ports
serial 4 33554432 115200 115200 0 115200

# LEDs

# LED color

# LED mode_color

# Modes [aux]
aux 0 0 0 1700 2100
aux 1 1 1 900 1300
aux 2 12 1 1700 2100
aux 3 10 3 1700 2100
aux 4 21 5 1700 2100
aux 5 36 4 1700 2100
aux 6 13 3 1700 2100
aux 7 13 5 1700 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]
osd_layout 0 0 36 0 V
osd_layout 0 1 18 16 V
osd_layout 0 3 8 6 V
osd_layout 0 7 3 15 V
osd_layout 0 9 4 16 V
osd_layout 0 11 12 16 V
osd_layout 0 12 11 15 V
osd_layout 0 13 35 16 V
osd_layout 0 14 18 0 V
osd_layout 0 15 36 15 V
osd_layout 0 20 3 1 V
osd_layout 0 21 3 0 V
osd_layout 0 22 30 1 H
osd_layout 0 23 23 15 V
osd_layout 0 27 41 16 V
osd_layout 0 28 46 12 V
osd_layout 0 30 11 11 V
osd_layout 0 31 18 1 V
osd_layout 0 32 25 16 V
osd_layout 0 34 26 0 V
osd_layout 0 40 46 13 V
osd_layout 0 55 11 14 V
osd_layout 0 86 3 12 V
osd_layout 0 105 37 1 V
osd_layout 0 109 47 0 V
osd_layout 0 110 40 0 V
osd_layout 0 112 46 1 V
osd_layout 0 160 40 1 V

# Programming: logic

# 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 = -6
set gyro_zero_y = -1
set gyro_zero_z = 6
set ins_gravity_cmss =  973.032
set gyro_adaptive_filter_min_hz = 20
set acc_hardware = ICM42605
set acczero_x = -12
set acczero_z = 14
set accgain_x = 4085
set accgain_y = 4089
set accgain_z = 4097
set align_mag = CW270FLIP
set mag_hardware = NONE
set baro_hardware = SPL06
set pitot_hardware = VIRTUAL
set blackbox_rate_denom = 2
set motor_pwm_protocol = DSHOT600
set failsafe_procedure = RTH
set align_board_pitch = 1800
set small_angle = 180
set applied_defaults = 4
set gps_sbas_mode = EGNOS
set gps_auto_config = OFF
set gps_auto_baud = OFF
set gps_ublox_use_beidou = ON
set airmode_type = STICK_CENTER_ONCE
set nav_wp_radius = 1000
set nav_wp_max_safe_distance = 500
set nav_rth_allow_landing = FS_ONLY
set nav_rth_altitude = 3500
set nav_fw_bank_angle = 45
set nav_fw_dive_angle = 45
set nav_fw_loiter_radius = 12500
set nav_fw_control_smoothness = 2
set nav_fw_launch_max_angle = 75
set nav_fw_launch_motor_delay = 100
set nav_fw_launch_spinup_time = 1000
set nav_fw_launch_timeout = 10000
set nav_fw_launch_max_altitude = 3000
set nav_fw_launch_climb_angle = 25
set osd_video_system = AVATAR
set osd_alt_alarm = 500
set osd_dist_alarm = 2000
set osd_crosshairs_style = TYPE3
set osd_crsf_lq_format = TYPE2
set enable_broken_o4_workaround = ON
set tz_offset = 240
set tz_automatic_dst = EU

# control_profile
control_profile 1

set fw_p_pitch = 6
set fw_i_pitch = 4
set fw_d_pitch = 1
set fw_ff_pitch = 70
set fw_p_roll = 8
set fw_i_roll = 3
set fw_d_roll = 1
set fw_p_yaw = 14
set fw_i_yaw = 0
set fw_ff_yaw = 100
set max_angle_inclination_rll = 550
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.300
set nav_fw_pos_z_p = 35
set nav_fw_pos_xy_p = 70
set d_boost_min =  1.000
set d_boost_max =  1.000
set fw_level_pitch_trim =  3.000
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 18
set pitch_rate = 9
set yaw_rate = 4

# mixer_profile
mixer_profile 1

set platform_type = AIRPLANE
set model_preview_type = 8

# 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
smix 4 3 0 50 0 -1
smix 5 3 1 50 0 -1

# battery_profile
battery_profile 1

set bat_cells = 4
set throttle_idle =  5.000

# save configuration
save

# end the command batch
batch end

#