<?xml version="1.0" encoding="UTF-8"?>
<APPConfiguration>
    <controller_id>122</controller_id>
    <timeout_msec>1000</timeout_msec>
    <timeout_brake_current>0</timeout_brake_current>
    <send_can_status>0</send_can_status>
    <send_can_status_rate_hz>50</send_can_status_rate_hz>
    <can_baud_rate>2</can_baud_rate>
    <pairing_done>0</pairing_done>
    <permanent_uart_enabled>1</permanent_uart_enabled>
    <shutdown_mode>7</shutdown_mode>
    <can_mode>0</can_mode>
    <uavcan_esc_index>0</uavcan_esc_index>
    <app_to_use>5</app_to_use>
    <app_ppm_conf.ctrl_type>0</app_ppm_conf.ctrl_type>
    <app_ppm_conf.pid_max_erpm>15000</app_ppm_conf.pid_max_erpm>
    <app_ppm_conf.hyst>0.15</app_ppm_conf.hyst>
    <app_ppm_conf.pulse_start>1</app_ppm_conf.pulse_start>
    <app_ppm_conf.pulse_end>2</app_ppm_conf.pulse_end>
    <app_ppm_conf.pulse_center>1.5</app_ppm_conf.pulse_center>
    <app_ppm_conf.median_filter>1</app_ppm_conf.median_filter>
    <app_ppm_conf.safe_start>1</app_ppm_conf.safe_start>
    <app_ppm_conf.throttle_exp>0</app_ppm_conf.throttle_exp>
    <app_ppm_conf.throttle_exp_brake>0</app_ppm_conf.throttle_exp_brake>
    <app_ppm_conf.throttle_exp_mode>2</app_ppm_conf.throttle_exp_mode>
    <app_ppm_conf.ramp_time_pos>0.4</app_ppm_conf.ramp_time_pos>
    <app_ppm_conf.ramp_time_neg>0.2</app_ppm_conf.ramp_time_neg>
    <app_ppm_conf.multi_esc>1</app_ppm_conf.multi_esc>
    <app_ppm_conf.tc>0</app_ppm_conf.tc>
    <app_ppm_conf.tc_max_diff>3000</app_ppm_conf.tc_max_diff>
    <app_ppm_conf.max_erpm_for_dir>4000</app_ppm_conf.max_erpm_for_dir>
    <app_ppm_conf.smart_rev_max_duty>0.07</app_ppm_conf.smart_rev_max_duty>
    <app_ppm_conf.smart_rev_ramp_time>3</app_ppm_conf.smart_rev_ramp_time>
    <app_adc_conf.ctrl_type>1</app_adc_conf.ctrl_type>
    <app_adc_conf.hyst>0.15</app_adc_conf.hyst>
    <app_adc_conf.voltage_start>0.79</app_adc_conf.voltage_start>
    <app_adc_conf.voltage_end>2.97</app_adc_conf.voltage_end>
    <app_adc_conf.voltage_center>1.88</app_adc_conf.voltage_center>
    <app_adc_conf.voltage2_start>1.27</app_adc_conf.voltage2_start>
    <app_adc_conf.voltage2_end>1.82</app_adc_conf.voltage2_end>
    <app_adc_conf.use_filter>1</app_adc_conf.use_filter>
    <app_adc_conf.safe_start>1</app_adc_conf.safe_start>
    <app_adc_conf.cc_button_inverted>0</app_adc_conf.cc_button_inverted>
    <app_adc_conf.rev_button_inverted>0</app_adc_conf.rev_button_inverted>
    <app_adc_conf.voltage_inverted>0</app_adc_conf.voltage_inverted>
    <app_adc_conf.voltage2_inverted>0</app_adc_conf.voltage2_inverted>
    <app_adc_conf.throttle_exp>0</app_adc_conf.throttle_exp>
    <app_adc_conf.throttle_exp_brake>0</app_adc_conf.throttle_exp_brake>
    <app_adc_conf.throttle_exp_mode>2</app_adc_conf.throttle_exp_mode>
    <app_adc_conf.ramp_time_pos>0.3</app_adc_conf.ramp_time_pos>
    <app_adc_conf.ramp_time_neg>0.1</app_adc_conf.ramp_time_neg>
    <app_adc_conf.multi_esc>0</app_adc_conf.multi_esc>
    <app_adc_conf.tc>0</app_adc_conf.tc>
    <app_adc_conf.tc_max_diff>3000</app_adc_conf.tc_max_diff>
    <app_adc_conf.update_rate_hz>500</app_adc_conf.update_rate_hz>
    <app_uart_baudrate>115200</app_uart_baudrate>
    <app_chuk_conf.ctrl_type>0</app_chuk_conf.ctrl_type>
    <app_chuk_conf.hyst>0.15</app_chuk_conf.hyst>
    <app_chuk_conf.ramp_time_pos>0.4</app_chuk_conf.ramp_time_pos>
    <app_chuk_conf.ramp_time_neg>0.2</app_chuk_conf.ramp_time_neg>
    <app_chuk_conf.stick_erpm_per_s_in_cc>3000</app_chuk_conf.stick_erpm_per_s_in_cc>
    <app_chuk_conf.throttle_exp>0</app_chuk_conf.throttle_exp>
    <app_chuk_conf.throttle_exp_brake>0</app_chuk_conf.throttle_exp_brake>
    <app_chuk_conf.throttle_exp_mode>2</app_chuk_conf.throttle_exp_mode>
    <app_chuk_conf.multi_esc>1</app_chuk_conf.multi_esc>
    <app_chuk_conf.tc>0</app_chuk_conf.tc>
    <app_chuk_conf.tc_max_diff>3000</app_chuk_conf.tc_max_diff>
    <app_chuk_conf.use_smart_rev>1</app_chuk_conf.use_smart_rev>
    <app_chuk_conf.smart_rev_max_duty>0.07</app_chuk_conf.smart_rev_max_duty>
    <app_chuk_conf.smart_rev_ramp_time>3</app_chuk_conf.smart_rev_ramp_time>
    <app_nrf_conf.speed>1</app_nrf_conf.speed>
    <app_nrf_conf.power>3</app_nrf_conf.power>
    <app_nrf_conf.crc_type>1</app_nrf_conf.crc_type>
    <app_nrf_conf.retry_delay>0</app_nrf_conf.retry_delay>
    <app_nrf_conf.retries>3</app_nrf_conf.retries>
    <app_nrf_conf.channel>76</app_nrf_conf.channel>
    <app_nrf_conf.address__0>198</app_nrf_conf.address__0>
    <app_nrf_conf.address__1>199</app_nrf_conf.address__1>
    <app_nrf_conf.address__2>0</app_nrf_conf.address__2>
    <app_nrf_conf.send_crc_ack>1</app_nrf_conf.send_crc_ack>
    <app_balance_conf.kp>0</app_balance_conf.kp>
    <app_balance_conf.ki>0</app_balance_conf.ki>
    <app_balance_conf.kd>0</app_balance_conf.kd>
    <app_balance_conf.hertz>1000</app_balance_conf.hertz>
    <app_balance_conf.pitch_fault>20</app_balance_conf.pitch_fault>
    <app_balance_conf.roll_fault>45</app_balance_conf.roll_fault>
    <app_balance_conf.use_switches>0</app_balance_conf.use_switches>
    <app_balance_conf.overspeed_duty>0.9</app_balance_conf.overspeed_duty>
    <app_balance_conf.tiltback_duty>0.75</app_balance_conf.tiltback_duty>
    <app_balance_conf.tiltback_angle>15</app_balance_conf.tiltback_angle>
    <app_balance_conf.tiltback_speed>5</app_balance_conf.tiltback_speed>
    <app_balance_conf.tiltback_high_voltage>100</app_balance_conf.tiltback_high_voltage>
    <app_balance_conf.tiltback_low_voltage>0</app_balance_conf.tiltback_low_voltage>
    <app_balance_conf.startup_pitch_tolerance>20</app_balance_conf.startup_pitch_tolerance>
    <app_balance_conf.startup_roll_tolerance>8</app_balance_conf.startup_roll_tolerance>
    <app_balance_conf.startup_speed>30</app_balance_conf.startup_speed>
    <app_balance_conf.deadzone>0</app_balance_conf.deadzone>
    <app_balance_conf.current_boost>0</app_balance_conf.current_boost>
    <imu_conf.type>1</imu_conf.type>
    <imu_conf.mode>0</imu_conf.mode>
    <imu_conf.sample_rate_hz>200</imu_conf.sample_rate_hz>
    <imu_conf.accel_confidence_decay>1</imu_conf.accel_confidence_decay>
    <imu_conf.mahony_kp>0.3</imu_conf.mahony_kp>
    <imu_conf.mahony_ki>0</imu_conf.mahony_ki>
    <imu_conf.madgwick_beta>0.1</imu_conf.madgwick_beta>
    <imu_conf.rot_roll>0</imu_conf.rot_roll>
    <imu_conf.rot_pitch>0</imu_conf.rot_pitch>
    <imu_conf.rot_yaw>0</imu_conf.rot_yaw>
    <imu_conf.accel_offsets__0>0</imu_conf.accel_offsets__0>
    <imu_conf.accel_offsets__1>0</imu_conf.accel_offsets__1>
    <imu_conf.accel_offsets__2>0</imu_conf.accel_offsets__2>
    <imu_conf.gyro_offsets__0>0</imu_conf.gyro_offsets__0>
    <imu_conf.gyro_offsets__1>0</imu_conf.gyro_offsets__1>
    <imu_conf.gyro_offsets__2>0</imu_conf.gyro_offsets__2>
    <imu_conf.gyro_offset_comp_fact__0>0</imu_conf.gyro_offset_comp_fact__0>
    <imu_conf.gyro_offset_comp_fact__1>0</imu_conf.gyro_offset_comp_fact__1>
    <imu_conf.gyro_offset_comp_fact__2>0</imu_conf.gyro_offset_comp_fact__2>
    <imu_conf.gyro_offset_comp_clamp>5</imu_conf.gyro_offset_comp_clamp>
</APPConfiguration>