# diff all

# version
# INAV/SPEEDYBEEF7V3 5.1.0 Sep  2 2022 / 19:08:01 (76f22b25)
# GCC-10.2.1 20201103 (release)

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# mixer

mmix reset

mmix 0  1.000 -1.000  0.000  1.000
mmix 1  1.000  0.000 -1.000 -1.000
mmix 2  1.000  0.000  1.000 -1.000
mmix 3  1.000  1.000  0.000  1.000

# servo mixer

# servo

# safehome

# feature
feature GPS
feature PWM_OUTPUT_ENABLE

# 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

# map
map TAER

# serial
serial 3 0 115200 115200 0 115200
serial 5 2 115200 115200 0 115200

# led

# color

# mode_color

# aux
aux 0 0 0 1725 2100
aux 1 3 2 1300 2100

# adjrange

# rxrange

# temp_sensor

# wp
#wp 0 invalid

# osd_layout
osd_layout 0 0 47 0 V
osd_layout 0 1 40 0 V
osd_layout 0 7 5 0 V
osd_layout 0 8 21 0 V
osd_layout 0 9 5 16 V
osd_layout 0 11 42 2 V
osd_layout 0 12 34 1 V
osd_layout 0 15 45 9 V
osd_layout 0 19 42 1 V
osd_layout 0 28 22 1 V
osd_layout 0 29 41 17 V
osd_layout 0 30 11 13 V
osd_layout 0 34 20 16 V
osd_layout 0 38 34 0 V
osd_layout 0 100 5 1 V
osd_layout 0 105 0 0 V
osd_layout 0 110 0 4 V
osd_layout 0 112 0 1 H

# logic

# global vars

# programmable pid controllers

# master
set looptime = 500
set gyro_main_lpf_hz = 110
set gyro_main_lpf_type = PT1
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 120
set setpoint_kalman_q = 200
set gyro_zero_x = 2
set gyro_zero_y = -4
set gyro_zero_z = -2
set ins_gravity_cmss =  977.068
set acc_hardware = BMI270
set acczero_x = -64
set acczero_y = -75
set acczero_z = -6
set accgain_x = 4095
set accgain_y = 4104
set accgain_z = 4090
set align_mag = CW270FLIP
set mag_hardware = QMC5883
set magzero_x = -136
set magzero_y = -379
set magzero_z = 72
set maggain_x = 1151
set maggain_y = 1443
set maggain_z = 1435
set baro_hardware = BMP280
set serialrx_provider = FPORT
set blackbox_rate_denom = 2
set motor_pwm_protocol = DSHOT600
set failsafe_procedure = DROP
set model_preview_type = 2
set applied_defaults = 2
set gps_sbas_mode = EGNOS
set gps_ublox_use_galileo = ON
set airmode_type = THROTTLE_THRESHOLD
set osd_video_system = HD
set osd_main_voltage_decimals = 2
set name = MANDRONE

# profile
profile 1

set mc_p_pitch = 59
set mc_i_pitch = 5
set mc_d_pitch = 34
set mc_cd_pitch = 131
set mc_p_roll = 53
set mc_i_roll = 4
set mc_d_roll = 30
set mc_cd_roll = 120
set mc_p_yaw = 53
set mc_i_yaw = 4
set mc_cd_yaw = 120
set dterm_lpf_type = PT3
set d_boost_min =  0.800
set d_boost_max =  1.200
set antigravity_gain =  2.000
set antigravity_accelerator =  5.000
set smith_predictor_delay =  1.500
set tpa_rate = 20
set tpa_breakpoint = 1200
set rc_expo = 75
set rc_yaw_expo = 75
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60

# profile
profile 2


# profile
profile 3


# battery_profile
battery_profile 1

set battery_capacity = 1300
set throttle_idle =  3.000

# battery_profile
battery_profile 2


# battery_profile
battery_profile 3


# restore original profile selection
profile 1
battery_profile 1

# save configuration
save