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  1. # INAV/MATEKF405_SERVOS6 2.2.1 Jul 3 2019 / 22:32:52 (a6d847482)
  2. # GCC-8.2.1 20181213 (release) [gcc-8-branch revision 267074]
  3.  
  4. # resources
  5.  
  6. # mixer
  7. mmix 0 1.000 0.000 0.000 0.000
  8.  
  9. # servo mix
  10. smix 0 1 0 100 0 -1
  11. smix 1 1 1 -100 0 -1
  12. smix 2 2 0 100 0 -1
  13. smix 3 2 1 100 0 -1
  14.  
  15. # servo
  16. servo 2 1000 2000 1563 100
  17.  
  18. # logic
  19.  
  20. # feature
  21. feature MOTOR_STOP
  22. feature GPS
  23. feature RSSI_ADC
  24. feature LED_STRIP
  25. feature PWM_OUTPUT_ENABLE
  26. feature FW_LAUNCH
  27.  
  28. # beeper
  29.  
  30. # map
  31.  
  32. # serial
  33. serial 0 2 115200 115200 0 115200
  34. serial 2 4096 115200 115200 0 115200
  35. serial 4 16 115200 115200 0 115200
  36.  
  37. # led
  38. led 0 0,15::C:7
  39. led 1 1,15::C:6
  40. led 2 2,15::C:5
  41. led 3 3,15::C:5
  42. led 4 4,15::C:4
  43. led 5 5,15::C:3
  44. led 6 6,15::C:3
  45. led 7 7,15::C:2
  46. led 8 8,15::C:2
  47. led 9 9,15::C:3
  48. led 10 10,15::C:3
  49. led 11 11,15::C:4
  50. led 12 12,15::C:5
  51. led 13 13,15::C:5
  52. led 14 14,15::C:6
  53. led 15 15,15::C:7
  54.  
  55. # color
  56.  
  57. # mode_color
  58.  
  59. # aux
  60. aux 0 0 0 1075 2100
  61. aux 1 1 0 1950 2100
  62. aux 2 3 0 1575 1675
  63. aux 3 9 0 1200 1300
  64. aux 4 8 0 1075 1175
  65. aux 5 19 0 1450 1550
  66. aux 6 35 0 1575 1675
  67. aux 7 10 0 900 1075
  68. aux 8 10 0 1825 1925
  69. aux 9 27 4 1300 1700
  70. aux 10 28 4 1700 2100
  71. aux 11 11 2 1750 2100
  72. aux 12 15 2 1250 1750
  73.  
  74. # adjrange
  75. adjrange 0 0 1 1600 2100 49 1
  76. adjrange 1 1 1 900 1400 49 1
  77.  
  78. # rxrange
  79.  
  80. # temp_sensor
  81.  
  82. # wp
  83. #wp 0 invalid
  84.  
  85. # osd_layout
  86. osd_layout 0 0 6 1 V
  87. osd_layout 0 1 24 0 V
  88. osd_layout 0 3 8 6 H
  89. osd_layout 0 4 8 6 H
  90. osd_layout 0 7 3 6 V
  91. osd_layout 0 9 1 2 H
  92. osd_layout 0 10 0 0 H
  93. osd_layout 0 11 20 1 V
  94. osd_layout 0 12 24 1 V
  95. osd_layout 0 13 3 8 V
  96. osd_layout 0 14 0 1 V
  97. osd_layout 0 15 23 8 V
  98. osd_layout 0 22 24 6 V
  99. osd_layout 0 23 22 7 V
  100. osd_layout 0 24 12 0 H
  101. osd_layout 0 26 23 9 V
  102. osd_layout 0 28 17 0 V
  103. osd_layout 0 30 1 4 V
  104. osd_layout 0 33 2 7 V
  105. osd_layout 0 34 10 0 H
  106. osd_layout 0 97 0 0 V
  107. osd_layout 0 105 11 1 V
  108.  
  109. # master
  110. set acc_hardware = MPU6500
  111. set acczero_x = -14
  112. set acczero_y = -26
  113. set acczero_z = -30
  114. set accgain_x = 4090
  115. set accgain_y = 4084
  116. set accgain_z = 4090
  117. set mag_hardware = NONE
  118. set baro_hardware = BMP280
  119. set pitot_hardware = NONE
  120. set min_throttle = 1050
  121. set max_throttle = 2000
  122. set motor_pwm_rate = 8000
  123. set motor_pwm_protocol = DSHOT300
  124. set failsafe_procedure = RTH
  125. set align_board_roll = -60
  126. set align_board_pitch = 10
  127. set align_board_yaw = 900
  128. set current_meter_scale = 915
  129. set bat_voltage_src = SAG_COMP
  130. set platform_type = AIRPLANE
  131. set model_preview_type = 8
  132. set 3d_deadband_low = 1450
  133. set 3d_deadband_high = 1550
  134. set 3d_neutral = 1500
  135. set small_angle = 180
  136. set gps_sbas_mode = EGNOS
  137. set inav_w_z_baro_p = 1.000
  138. set inav_w_z_gps_p = 0.000
  139. set nav_extra_arming_safety = OFF
  140. set nav_manual_climb_rate = 2000
  141. set nav_rth_allow_landing = FS_ONLY
  142. set nav_rth_alt_mode = AT_LEAST_LINEAR_DESCENT
  143. set nav_rth_altitude = 6000
  144. set nav_fw_cruise_thr = 1450
  145. set nav_fw_max_thr = 1600
  146. set nav_fw_climb_angle = 25
  147. set nav_fw_pitch2thr = 0
  148. set nav_fw_loiter_radius = 7000
  149. set nav_fw_launch_max_angle = 180
  150. set nav_fw_launch_thr = 1500
  151. set nav_fw_launch_motor_delay = 0
  152. set nav_fw_launch_spinup_time = 1000
  153. set nav_fw_launch_timeout = 30000
  154. set nav_fw_launch_climb_angle = 35
  155. set nav_fw_allow_manual_thr_increase = ON
  156. set osd_rssi_alarm = 50
  157. set osd_time_alarm = 0
  158. set osd_alt_alarm = 0
  159. set osd_dist_alarm = 0
  160. set osd_neg_alt_alarm = 0
  161. set name = FinalFrag
  162. set vtx_band = 5
  163. set vtx_channel = 3
  164. set vtx_power = 5
  165. set vtx_low_power_disarm = UNTIL_FIRST_ARM
  166. set vtx_freq = 5732
  167.  
  168. # profile
  169. profile 1
  170.  
  171. set fw_p_pitch = 6
  172. set fw_i_pitch = 12
  173. set fw_ff_pitch = 55
  174. set fw_p_roll = 2
  175. set fw_i_roll = 4
  176. set fw_ff_roll = 19
  177. set max_angle_inclination_rll = 450
  178. set max_angle_inclination_pit = 450
  179. set rc_expo = 30
  180. set roll_rate = 36
  181. set pitch_rate = 36
  182. set manual_rc_expo = 30
  183. set manual_roll_rate = 60
  184. set manual_pitch_rate = 75
  185.  
  186. # battery_profile
  187. battery_profile 1
  188.  
  189. set vbat_cell_detect_voltage = 450
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