dump

# version
# INAV/MATEKF722SE 2.5.0 May 26 2020 / 12:36:10 (d84bcb733)
# GCC-9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599]

# start the command batch
batch start

# resources

# mixer

mmix reset

mmix 0  1.000 -1.000  1.000 -1.000
mmix 1  1.000 -1.000 -1.000  1.000
mmix 2  1.000  1.000  1.000  1.000
mmix 3  1.000  1.000 -1.000 -1.000

# servo mix
smix reset


# 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

# 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

# gvar
gvar 0 0 -32768 32767
gvar 1 0 -32768 32767
gvar 2 0 -32768 32767
gvar 3 0 -32768 32767

# gf
gf 0 0 -1 0 0 0 0
gf 1 0 -1 0 0 0 0
gf 2 0 -1 0 0 0 0
gf 3 0 -1 0 0 0 0
gf 4 0 -1 0 0 0 0
gf 5 0 -1 0 0 0 0
gf 6 0 -1 0 0 0 0
gf 7 0 -1 0 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 VBAT
feature TX_PROF_SEL
feature GPS
feature TELEMETRY
feature CURRENT_METER
feature BLACKBOX
feature AIRMODE
feature PWM_OUTPUT_ENABLE
feature OSD

# 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 CAM_CONNECTION_OPEN
beeper CAM_CONNECTION_CLOSED

# map
map TAER

# serial
serial 20 1 115200 115200 0 115200
serial 0 2 115200 115200 0 115200
serial 1 64 115200 115200 0 115200
serial 2 2048 115200 115200 0 115200
serial 3 1 115200 115200 0 115200
serial 5 262144 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 0 1700 2100
aux 1 11 2 1300 1700
aux 2 10 2 1700 2100
aux 3 13 3 1700 2100
aux 4 26 0 1700 2100
aux 5 42 1 1300 1700
aux 6 43 1 1700 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 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

# adjrange
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0

# rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

# temp_sensor
temp_sensor 0 0 0 0 0 0
temp_sensor 1 0 0 0 0 0
temp_sensor 2 0 0 0 0 0
temp_sensor 3 0 0 0 0 0
temp_sensor 4 0 0 0 0 0
temp_sensor 5 0 0 0 0 0
temp_sensor 6 0 0 0 0 0
temp_sensor 7 0 0 0 0 0

# wp
#wp 0 invalid
wp 0 0 0 0 0 0 0 0 0
wp 1 0 0 0 0 0 0 0 0
wp 2 0 0 0 0 0 0 0 0
wp 3 0 0 0 0 0 0 0 0
wp 4 0 0 0 0 0 0 0 0
wp 5 0 0 0 0 0 0 0 0
wp 6 0 0 0 0 0 0 0 0
wp 7 0 0 0 0 0 0 0 0
wp 8 0 0 0 0 0 0 0 0
wp 9 0 0 0 0 0 0 0 0
wp 10 0 0 0 0 0 0 0 0
wp 11 0 0 0 0 0 0 0 0
wp 12 0 0 0 0 0 0 0 0
wp 13 0 0 0 0 0 0 0 0
wp 14 0 0 0 0 0 0 0 0
wp 15 0 0 0 0 0 0 0 0
wp 16 0 0 0 0 0 0 0 0
wp 17 0 0 0 0 0 0 0 0
wp 18 0 0 0 0 0 0 0 0
wp 19 0 0 0 0 0 0 0 0
wp 20 0 0 0 0 0 0 0 0
wp 21 0 0 0 0 0 0 0 0
wp 22 0 0 0 0 0 0 0 0
wp 23 0 0 0 0 0 0 0 0
wp 24 0 0 0 0 0 0 0 0
wp 25 0 0 0 0 0 0 0 0
wp 26 0 0 0 0 0 0 0 0
wp 27 0 0 0 0 0 0 0 0
wp 28 0 0 0 0 0 0 0 0
wp 29 0 0 0 0 0 0 0 0
wp 30 0 0 0 0 0 0 0 0
wp 31 0 0 0 0 0 0 0 0
wp 32 0 0 0 0 0 0 0 0
wp 33 0 0 0 0 0 0 0 0
wp 34 0 0 0 0 0 0 0 0
wp 35 0 0 0 0 0 0 0 0
wp 36 0 0 0 0 0 0 0 0
wp 37 0 0 0 0 0 0 0 0
wp 38 0 0 0 0 0 0 0 0
wp 39 0 0 0 0 0 0 0 0
wp 40 0 0 0 0 0 0 0 0
wp 41 0 0 0 0 0 0 0 0
wp 42 0 0 0 0 0 0 0 0
wp 43 0 0 0 0 0 0 0 0
wp 44 0 0 0 0 0 0 0 0
wp 45 0 0 0 0 0 0 0 0
wp 46 0 0 0 0 0 0 0 0
wp 47 0 0 0 0 0 0 0 0
wp 48 0 0 0 0 0 0 0 0
wp 49 0 0 0 0 0 0 0 0
wp 50 0 0 0 0 0 0 0 0
wp 51 0 0 0 0 0 0 0 0
wp 52 0 0 0 0 0 0 0 0
wp 53 0 0 0 0 0 0 0 0
wp 54 0 0 0 0 0 0 0 0
wp 55 0 0 0 0 0 0 0 0
wp 56 0 0 0 0 0 0 0 0
wp 57 0 0 0 0 0 0 0 0
wp 58 0 0 0 0 0 0 0 0
wp 59 0 0 0 0 0 0 0 0

# osd_layout
osd_layout 0 0 26 1 V
osd_layout 0 1 1 13 H
osd_layout 0 2 0 0 H
osd_layout 0 3 8 6 H
osd_layout 0 4 8 6 H
osd_layout 0 5 23 8 H
osd_layout 0 6 23 9 H
osd_layout 0 7 13 13 V
osd_layout 0 8 20 2 H
osd_layout 0 9 1 2 H
osd_layout 0 10 8 6 H
osd_layout 0 11 2 11 V
osd_layout 0 12 1 12 V
osd_layout 0 13 23 1 H
osd_layout 0 14 25 2 V
osd_layout 0 15 1 1 V
osd_layout 0 16 2 10 H
osd_layout 0 17 2 11 H
osd_layout 0 18 2 12 H
osd_layout 0 19 15 1 H
osd_layout 0 20 19 15 V
osd_layout 0 21 1 15 V
osd_layout 0 22 18 2 V
osd_layout 0 23 10 2 V
osd_layout 0 24 12 2 H
osd_layout 0 25 24 5 V
osd_layout 0 26 25 7 V
osd_layout 0 27 3 5 H
osd_layout 0 28 23 12 V
osd_layout 0 29 23 12 H
osd_layout 0 30 1 14 V
osd_layout 0 31 25 3 V
osd_layout 0 32 1 13 V
osd_layout 0 33 6 2 H
osd_layout 0 34 10 1 V
osd_layout 0 35 2 10 V
osd_layout 0 36 1 5 H
osd_layout 0 37 1 6 H
osd_layout 0 38 1 7 H
osd_layout 0 39 1 5 H
osd_layout 0 40 23 13 V
osd_layout 0 41 1 8 V
osd_layout 0 42 1 7 V
osd_layout 0 43 0 0 H
osd_layout 0 44 0 0 H
osd_layout 0 45 0 0 H
osd_layout 0 46 3 6 H
osd_layout 0 47 3 7 H
osd_layout 0 48 23 7 H
osd_layout 0 49 23 6 H
osd_layout 0 50 15 0 H
osd_layout 0 51 12 2 H
osd_layout 0 52 12 2 H
osd_layout 0 53 12 1 H
osd_layout 0 54 12 1 H
osd_layout 0 55 1 8 H
osd_layout 0 56 2 12 H
osd_layout 0 57 2 12 H
osd_layout 0 58 2 12 H
osd_layout 0 59 2 12 H
osd_layout 0 60 2 12 H
osd_layout 0 61 2 12 H
osd_layout 0 62 2 10 H
osd_layout 0 63 2 11 H
osd_layout 0 64 2 12 H
osd_layout 0 65 2 12 H
osd_layout 0 66 2 12 H
osd_layout 0 67 2 12 H
osd_layout 0 68 2 12 H
osd_layout 0 69 2 12 H
osd_layout 0 70 2 12 H
osd_layout 0 71 2 12 H
osd_layout 0 72 2 12 H
osd_layout 0 73 2 12 H
osd_layout 0 74 2 12 H
osd_layout 0 75 2 12 H
osd_layout 0 76 2 12 H
osd_layout 0 77 2 12 H
osd_layout 0 78 0 0 H
osd_layout 0 79 2 12 H
osd_layout 0 80 2 12 H
osd_layout 0 81 2 12 H
osd_layout 0 82 2 12 H
osd_layout 0 83 2 12 H
osd_layout 0 84 2 12 H
osd_layout 0 85 1 2 V
osd_layout 0 86 19 2 H
osd_layout 0 87 19 3 H
osd_layout 0 88 19 4 H
osd_layout 0 89 19 5 H
osd_layout 0 90 19 6 H
osd_layout 0 91 19 7 H
osd_layout 0 92 19 8 H
osd_layout 0 93 19 9 H
osd_layout 0 94 19 10 H
osd_layout 0 95 19 11 H
osd_layout 0 96 0 0 H
osd_layout 0 97 0 0 H
osd_layout 0 98 0 0 H
osd_layout 0 99 0 0 H
osd_layout 0 100 12 4 H
osd_layout 0 101 12 5 H
osd_layout 0 102 12 6 H
osd_layout 0 103 12 7 H
osd_layout 0 104 0 0 H
osd_layout 0 105 3 5 H
osd_layout 0 106 1 2 H
osd_layout 0 107 1 3 H
osd_layout 1 0 26 1 V
osd_layout 1 1 12 0 H
osd_layout 1 2 0 0 V
osd_layout 1 3 8 6 H
osd_layout 1 4 8 6 H
osd_layout 1 5 23 8 H
osd_layout 1 6 23 9 H
osd_layout 1 7 13 12 H
osd_layout 1 8 20 2 H
osd_layout 1 9 1 2 H
osd_layout 1 10 8 6 H
osd_layout 1 11 2 3 H
osd_layout 1 12 6 1 V
osd_layout 1 13 18 1 V
osd_layout 1 14 25 2 H
osd_layout 1 15 22 1 V
osd_layout 1 16 2 10 H
osd_layout 1 17 2 11 H
osd_layout 1 18 2 12 H
osd_layout 1 19 15 1 H
osd_layout 1 20 19 15 V
osd_layout 1 21 1 15 V
osd_layout 1 22 12 1 V
osd_layout 1 23 13 1 V
osd_layout 1 24 12 2 H
osd_layout 1 25 23 5 H
osd_layout 1 26 24 7 H
osd_layout 1 27 3 5 H
osd_layout 1 28 23 11 H
osd_layout 1 29 23 12 H
osd_layout 1 30 1 13 H
osd_layout 1 31 0 10 H
osd_layout 1 32 1 1 V
osd_layout 1 33 6 2 H
osd_layout 1 34 18 2 H
osd_layout 1 35 1 5 H
osd_layout 1 36 1 5 H
osd_layout 1 37 1 6 H
osd_layout 1 38 1 7 H
osd_layout 1 39 1 5 H
osd_layout 1 40 1 2 H
osd_layout 1 41 1 8 H
osd_layout 1 42 1 7 H
osd_layout 1 43 0 0 H
osd_layout 1 44 0 0 H
osd_layout 1 45 0 0 H
osd_layout 1 46 3 6 H
osd_layout 1 47 3 7 H
osd_layout 1 48 23 7 H
osd_layout 1 49 23 6 H
osd_layout 1 50 0 0 H
osd_layout 1 51 12 2 H
osd_layout 1 52 12 2 H
osd_layout 1 53 12 1 H
osd_layout 1 54 12 1 H
osd_layout 1 55 1 8 H
osd_layout 1 56 2 12 H
osd_layout 1 57 2 12 H
osd_layout 1 58 2 12 H
osd_layout 1 59 2 12 H
osd_layout 1 60 2 12 H
osd_layout 1 61 2 12 H
osd_layout 1 62 2 10 H
osd_layout 1 63 2 11 H
osd_layout 1 64 2 12 H
osd_layout 1 65 2 12 H
osd_layout 1 66 2 12 H
osd_layout 1 67 2 12 H
osd_layout 1 68 2 12 H
osd_layout 1 69 2 12 H
osd_layout 1 70 2 12 H
osd_layout 1 71 2 12 H
osd_layout 1 72 2 12 H
osd_layout 1 73 2 12 H
osd_layout 1 74 2 12 H
osd_layout 1 75 2 12 H
osd_layout 1 76 2 12 H
osd_layout 1 77 2 12 H
osd_layout 1 78 0 0 H
osd_layout 1 79 2 12 H
osd_layout 1 80 2 12 H
osd_layout 1 81 2 12 H
osd_layout 1 82 2 12 H
osd_layout 1 83 2 12 H
osd_layout 1 84 2 12 H
osd_layout 1 85 23 1 H
osd_layout 1 86 19 2 H
osd_layout 1 87 19 3 H
osd_layout 1 88 19 4 H
osd_layout 1 89 19 5 H
osd_layout 1 90 19 6 H
osd_layout 1 91 19 7 H
osd_layout 1 92 19 8 H
osd_layout 1 93 19 9 H
osd_layout 1 94 19 10 H
osd_layout 1 95 19 11 H
osd_layout 1 96 0 0 H
osd_layout 1 97 0 12 H
osd_layout 1 98 0 0 H
osd_layout 1 99 0 0 H
osd_layout 1 100 12 4 H
osd_layout 1 101 12 5 H
osd_layout 1 102 12 6 H
osd_layout 1 103 12 7 H
osd_layout 1 104 0 0 H
osd_layout 1 105 3 5 H
osd_layout 1 106 1 2 H
osd_layout 1 107 1 3 H
osd_layout 2 0 23 0 H
osd_layout 2 1 12 0 H
osd_layout 2 2 0 0 H
osd_layout 2 3 8 6 H
osd_layout 2 4 8 6 H
osd_layout 2 5 23 8 H
osd_layout 2 6 23 9 H
osd_layout 2 7 13 12 H
osd_layout 2 8 20 2 H
osd_layout 2 9 1 2 H
osd_layout 2 10 8 6 H
osd_layout 2 11 2 3 H
osd_layout 2 12 1 4 H
osd_layout 2 13 23 1 H
osd_layout 2 14 0 11 H
osd_layout 2 15 1 0 H
osd_layout 2 16 2 10 H
osd_layout 2 17 2 11 H
osd_layout 2 18 2 12 H
osd_layout 2 19 15 1 H
osd_layout 2 20 18 12 H
osd_layout 2 21 0 12 H
osd_layout 2 22 14 11 H
osd_layout 2 23 1 1 H
osd_layout 2 24 12 2 H
osd_layout 2 25 23 5 H
osd_layout 2 26 24 7 H
osd_layout 2 27 3 5 H
osd_layout 2 28 23 11 H
osd_layout 2 29 23 12 H
osd_layout 2 30 1 13 H
osd_layout 2 31 0 10 H
osd_layout 2 32 12 1 H
osd_layout 2 33 6 2 H
osd_layout 2 34 18 2 H
osd_layout 2 35 1 5 H
osd_layout 2 36 1 5 H
osd_layout 2 37 1 6 H
osd_layout 2 38 1 7 H
osd_layout 2 39 1 5 H
osd_layout 2 40 1 2 H
osd_layout 2 41 1 8 H
osd_layout 2 42 1 7 H
osd_layout 2 43 0 0 H
osd_layout 2 44 0 0 H
osd_layout 2 45 0 0 H
osd_layout 2 46 3 6 H
osd_layout 2 47 3 7 H
osd_layout 2 48 23 7 H
osd_layout 2 49 23 6 H
osd_layout 2 50 0 0 H
osd_layout 2 51 12 2 H
osd_layout 2 52 12 2 H
osd_layout 2 53 12 1 H
osd_layout 2 54 12 1 H
osd_layout 2 55 1 8 H
osd_layout 2 56 2 12 H
osd_layout 2 57 2 12 H
osd_layout 2 58 2 12 H
osd_layout 2 59 2 12 H
osd_layout 2 60 2 12 H
osd_layout 2 61 2 12 H
osd_layout 2 62 2 10 H
osd_layout 2 63 2 11 H
osd_layout 2 64 2 12 H
osd_layout 2 65 2 12 H
osd_layout 2 66 2 12 H
osd_layout 2 67 2 12 H
osd_layout 2 68 2 12 H
osd_layout 2 69 2 12 H
osd_layout 2 70 2 12 H
osd_layout 2 71 2 12 H
osd_layout 2 72 2 12 H
osd_layout 2 73 2 12 H
osd_layout 2 74 2 12 H
osd_layout 2 75 2 12 H
osd_layout 2 76 2 12 H
osd_layout 2 77 2 12 H
osd_layout 2 78 0 0 H
osd_layout 2 79 2 12 H
osd_layout 2 80 2 12 H
osd_layout 2 81 2 12 H
osd_layout 2 82 2 12 H
osd_layout 2 83 2 12 H
osd_layout 2 84 2 12 H
osd_layout 2 85 23 1 H
osd_layout 2 86 19 2 H
osd_layout 2 87 19 3 H
osd_layout 2 88 19 4 H
osd_layout 2 89 19 5 H
osd_layout 2 90 19 6 H
osd_layout 2 91 19 7 H
osd_layout 2 92 19 8 H
osd_layout 2 93 19 9 H
osd_layout 2 94 19 10 H
osd_layout 2 95 19 11 H
osd_layout 2 96 0 0 H
osd_layout 2 97 0 12 H
osd_layout 2 98 0 0 H
osd_layout 2 99 0 0 H
osd_layout 2 100 12 4 H
osd_layout 2 101 12 5 H
osd_layout 2 102 12 6 H
osd_layout 2 103 12 7 H
osd_layout 2 104 0 0 H
osd_layout 2 105 3 5 H
osd_layout 2 106 1 2 H
osd_layout 2 107 1 3 H
osd_layout 3 0 23 0 H
osd_layout 3 1 12 0 H
osd_layout 3 2 0 0 H
osd_layout 3 3 8 6 H
osd_layout 3 4 8 6 H
osd_layout 3 5 23 8 H
osd_layout 3 6 23 9 H
osd_layout 3 7 13 12 H
osd_layout 3 8 20 2 H
osd_layout 3 9 1 2 H
osd_layout 3 10 8 6 H
osd_layout 3 11 2 3 H
osd_layout 3 12 1 4 H
osd_layout 3 13 23 1 H
osd_layout 3 14 0 11 H
osd_layout 3 15 1 0 H
osd_layout 3 16 2 10 H
osd_layout 3 17 2 11 H
osd_layout 3 18 2 12 H
osd_layout 3 19 15 1 H
osd_layout 3 20 18 12 H
osd_layout 3 21 0 12 H
osd_layout 3 22 14 11 H
osd_layout 3 23 1 1 H
osd_layout 3 24 12 2 H
osd_layout 3 25 23 5 H
osd_layout 3 26 24 7 H
osd_layout 3 27 3 5 H
osd_layout 3 28 23 11 H
osd_layout 3 29 23 12 H
osd_layout 3 30 1 13 H
osd_layout 3 31 0 10 H
osd_layout 3 32 12 1 H
osd_layout 3 33 6 2 H
osd_layout 3 34 18 2 H
osd_layout 3 35 1 5 H
osd_layout 3 36 1 5 H
osd_layout 3 37 1 6 H
osd_layout 3 38 1 7 H
osd_layout 3 39 1 5 H
osd_layout 3 40 1 2 H
osd_layout 3 41 1 8 H
osd_layout 3 42 1 7 H
osd_layout 3 43 0 0 H
osd_layout 3 44 0 0 H
osd_layout 3 45 0 0 H
osd_layout 3 46 3 6 H
osd_layout 3 47 3 7 H
osd_layout 3 48 23 7 H
osd_layout 3 49 23 6 H
osd_layout 3 50 0 0 H
osd_layout 3 51 12 2 H
osd_layout 3 52 12 2 H
osd_layout 3 53 12 1 H
osd_layout 3 54 12 1 H
osd_layout 3 55 1 8 H
osd_layout 3 56 2 12 H
osd_layout 3 57 2 12 H
osd_layout 3 58 2 12 H
osd_layout 3 59 2 12 H
osd_layout 3 60 2 12 H
osd_layout 3 61 2 12 H
osd_layout 3 62 2 10 H
osd_layout 3 63 2 11 H
osd_layout 3 64 2 12 H
osd_layout 3 65 2 12 H
osd_layout 3 66 2 12 H
osd_layout 3 67 2 12 H
osd_layout 3 68 2 12 H
osd_layout 3 69 2 12 H
osd_layout 3 70 2 12 H
osd_layout 3 71 2 12 H
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

# master
set looptime = 500
set gyro_sync = ON
set align_gyro = DEFAULT
set gyro_hardware_lpf = 256HZ
set gyro_lpf_hz = 85
set gyro_lpf_type = PT1
set moron_threshold = 32
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 1
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 1
set gyro_stage2_lowpass_hz = 0
set gyro_stage2_lowpass_type = BIQUAD
set dynamic_gyro_notch_enabled = ON
set dynamic_gyro_notch_range = MEDIUM
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 80
set gyro_to_use = 0
set vbat_adc_channel = 1
set rssi_adc_channel = 3
set current_adc_channel = 2
set airspeed_adc_channel = 4
set acc_notch_hz = 0
set acc_notch_cutoff = 1
set align_acc = DEFAULT
set acc_hardware = MPU6000
set acc_lpf_hz = 15
set acc_lpf_type = BIQUAD
set acczero_x = 68
set acczero_y = 16
set acczero_z = -206
set accgain_x = 4061
set accgain_y = 4106
set accgain_z = 4040
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 = QMC5883
set mag_declination = 0
set magzero_x = -206
set magzero_y = -261
set magzero_z = -350
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_median_filter = ON
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 = 12
set rssi_min = 0
set rssi_max = 100
set sbus_sync_interval = 3000
set rc_filter_frequency = 50
set serialrx_provider = CRSF
set serialrx_inverted = OFF
set rx_spi_rf_channel_count = 0
set rx_min_usec = 885
set rx_max_usec = 2115
set serialrx_halfduplex = OFF
set blackbox_rate_num = 1
set blackbox_rate_denom = 2
set blackbox_device = SDCARD
set sdcard_detect_inverted = OFF
set max_throttle = 1850
set min_command = 1000
set motor_pwm_rate = 8000
set motor_accel_time = 0
set motor_decel_time = 0
set motor_pwm_protocol = DSHOT300
set throttle_scale =  1.000
set throttle_idle =  7.000
set motor_poles = 14
set failsafe_delay = 5
set failsafe_recovery_delay = 5
set failsafe_off_delay = 200
set failsafe_throttle = 1000
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 = ON
set align_board_roll = 60
set align_board_pitch = 0
set align_board_yaw = 0
set vbat_meter_type = ADC
set vbat_scale = 1100
set current_meter_scale = 200
set current_meter_offset = 0
set current_meter_type = ADC
set bat_voltage_src = RAW
set cruise_power = 0
set idle_power = 0
set rth_energy_margin = 5
set thr_comp_weight =  1.000
set motor_direction_inverted = OFF
set platform_type = MULTIROTOR
set has_flaps = OFF
set model_preview_type = 3
set fw_min_throttle_down_pitch = 0
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 reboot_character = 82
set imu_dcm_kp = 2500
set imu_dcm_ki = 50
set imu_dcm_kp_mag = 10000
set imu_dcm_ki_mag = 0
set small_angle = 180
set imu_acc_ignore_rate = 0
set imu_acc_ignore_slope = 0
set fixed_wing_auto_arm = OFF
set disarm_kill_switch = ON
set switch_disarm_delay = 250
set applied_defaults = 2
set rpm_gyro_filter_enabled = ON
set rpm_gyro_harmonics = 1
set rpm_gyro_min_hz = 80
set rpm_gyro_q = 500
set gps_provider = UBLOX
set gps_sbas_mode = EGNOS
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 = 0
set yaw_deadband = 0
set pos_hold_deadband = 10
set alt_hold_deadband = 50
set 3d_deadband_throttle = 50
set mc_airmode_type = THROTTLE_THRESHOLD
set mc_airmode_threshold = 1300
set fw_autotune_overshoot_time = 100
set fw_autotune_undershoot_time = 200
set fw_autotune_threshold = 50
set fw_autotune_ff_to_p_gain = 10
set fw_autotune_ff_to_i_tc = 600
set inav_auto_mag_decl = ON
set inav_gravity_cal_tolerance = 5
set inav_use_gps_velned = ON
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 = ON
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_radius = 100
set nav_wp_safe_distance = 10000
set nav_auto_speed = 400
set nav_auto_climb_rate = 500
set nav_manual_speed = 500
set nav_manual_climb_rate = 200
set nav_landing_speed = 200
set nav_land_slowdown_minalt = 500
set nav_land_slowdown_maxalt = 2000
set nav_emerg_landing_speed = 500
set nav_min_rth_distance = 500
set nav_overrides_motor_stop = ON
set nav_rth_climb_first = ON
set nav_rth_climb_ignore_emerg = OFF
set nav_rth_tail_first = OFF
set nav_rth_allow_landing = ALWAYS
set nav_rth_alt_mode = AT_LEAST
set nav_rth_abort_threshold = 50000
set nav_max_terrain_follow_alt = 100
set nav_rth_altitude = 2000
set nav_rth_home_altitude = 0
set nav_rth_home_offset_distance = 0
set nav_rth_home_offset_direction = 0
set nav_mc_bank_angle = 45
set nav_mc_hover_thr = 1500
set nav_mc_auto_disarm_delay = 2000
set nav_mc_braking_speed_threshold = 100
set nav_mc_braking_disengage_speed = 75
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 = 150
set nav_mc_braking_boost_disengage_speed = 100
set nav_mc_braking_bank_angle = 40
set nav_mc_pos_deceleration_time = 120
set nav_mc_pos_expo = 10
set nav_fw_cruise_thr = 1400
set nav_fw_min_thr = 1200
set nav_fw_max_thr = 1700
set nav_fw_bank_angle = 35
set nav_fw_climb_angle = 20
set nav_fw_dive_angle = 15
set nav_fw_pitch2thr = 10
set nav_fw_loiter_radius = 5000
set nav_fw_cruise_speed = 0
set nav_fw_control_smoothness = 0
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_thr = 1700
set nav_fw_launch_idle_thr = 1000
set nav_fw_launch_motor_delay = 500
set nav_fw_launch_spinup_time = 100
set nav_fw_launch_min_time = 0
set nav_fw_launch_timeout = 5000
set nav_fw_launch_max_altitude = 0
set nav_fw_launch_climb_angle = 18
set nav_fw_cruise_yaw_rate = 20
set nav_fw_allow_manual_thr_increase = OFF
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 = f
set acc_event_threshold_high = 0
set acc_event_threshold_low = 0
set acc_event_threshold_neg_x = 0
set sim_low_altitude = -32768
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 ledstrip_visual_beeper = OFF
set osd_video_system = AUTO
set osd_row_shiftdown = 0
set osd_units = IMPERIAL
set osd_stats_energy_unit = MAH
set osd_rssi_alarm = 70
set osd_time_alarm = 15
set osd_alt_alarm = 400
set osd_dist_alarm = 2000
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_temp_label_align = LEFT
set osd_artificial_horizon_reverse_roll = OFF
set osd_artificial_horizon_max_pitch = 20
set osd_crosshairs_style = TYPE6
set osd_horizon_offset = 0
set osd_camera_uptilt = 0
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_nearest = 0
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_ahi_style = DEFAULT
set i2c_speed = 800KHZ
set debug_mode = GYRO
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_band = 5
set vtx_channel = 3
set vtx_power = 1
set vtx_low_power_disarm = OFF
set vtx_pit_mode_chan = 1
set pinio_box1 = 47
set pinio_box2 = 48
set pinio_box3 = 255
set pinio_box4 = 255
set log_level = ERROR
set log_topics = 0
set esc_sensor_listen_only = OFF

# profile
profile 1

set mc_p_pitch = 60
set mc_i_pitch = 80
set mc_d_pitch = 29
set mc_p_roll = 63
set mc_i_roll = 78
set mc_d_roll = 29
set mc_p_yaw = 65
set mc_i_yaw = 80
set mc_d_yaw = 0
set mc_p_level = 35
set mc_i_level = 15
set mc_d_level = 75
set fw_p_pitch = 5
set fw_i_pitch = 7
set fw_ff_pitch = 50
set fw_p_roll = 5
set fw_i_roll = 7
set fw_ff_roll = 50
set fw_p_yaw = 6
set fw_i_yaw = 10
set fw_ff_yaw = 60
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 = 450
set dterm_lpf_hz = 80
set dterm_lpf_type = PT1
set dterm_lpf2_hz = 140
set dterm_lpf2_type = PT1
set use_dterm_fir_filter = OFF
set yaw_lpf_hz = 0
set dterm_setpoint_weight =  0.600
set fw_iterm_throw_limit = 165
set fw_loiter_direction = RIGHT
set fw_reference_airspeed =  1000.000
set fw_turn_assist_yaw_gain =  1.000
set fw_iterm_limit_stick_position =  0.500
set dterm_notch_hz = 0
set dterm_notch_cutoff = 1
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_fw_pos_z_p = 40
set nav_fw_pos_z_i = 5
set nav_fw_pos_z_d = 10
set nav_fw_pos_xy_p = 75
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_type = SETPOINT
set mc_iterm_relax = RP
set mc_iterm_relax_cutoff = 15
set d_boost_factor =  1.300
set d_boost_max_at_acceleration =  5000.000
set d_boost_gyro_delta_lpf_hz = 60
set antigravity_gain =  2.000
set antigravity_accelerator =  5.000
set antigravity_cutoff_lpf_hz = 15
set pid_type = AUTO
set thr_mid = 50
set thr_expo = 0
set tpa_rate = 0
set tpa_breakpoint = 1500
set fw_tpa_time_constant = 0
set rc_expo = 70
set rc_yaw_expo = 70
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60
set manual_rc_expo = 70
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

# battery_profile
battery_profile 1

set bat_cells = 0
set vbat_cell_detect_voltage = 430
set vbat_max_cell_voltage = 420
set vbat_min_cell_voltage = 330
set vbat_warning_cell_voltage = 350
set battery_capacity = 4000
set battery_capacity_warning = 600
set battery_capacity_critical = 400
set battery_capacity_unit = MAH

# end the command batch
batch end