INAV 'diff all'

diff all

# version
# INAV/NEXUSX 9.1.0 Jul  8 2026 / 02:10:25 (15317503)
# GCC-13.2.1 20231009

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# Timer overrides

# Outputs [servo]
servo 1 1065 1850 1500 100
servo 2 1150 1935 1500 100
servo 3 1020 2008 1508 100
servo 4 1000 2020 1500 -100
servo 5 1000 1930 1500 100
servo 6 1070 2000 1500 100

# safehome

# Fixed Wing Approach

# features
feature -TX_PROF_SEL
feature GPS
feature CURRENT_METER
feature PWM_OUTPUT_ENABLE
feature FW_LAUNCH
feature FW_AUTOTRIM

# 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
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y
blackbox SERVOS

# Receiver: Channel map

# Ports
serial 0 0 115200 115200 0 115200
serial 1 262144 115200 115200 0 115200
serial 3 2 115200 115200 0 115200

# Modes [aux]
aux 0 0 0 1800 2100
aux 1 1 5 1300 2100
aux 2 12 4 900 1200
aux 3 45 5 1725 2100
aux 4 11 5 1300 1700
aux 5 11 6 1300 1700
aux 6 10 6 1725 2100
aux 7 56 4 1725 2100
aux 8 56 5 1300 2100
aux 9 35 4 1725 2100
aux 10 21 7 900 1250
aux 11 54 7 1725 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]

# Programming: logic
logic 0 1 -1 3 1 8 0 1625 0
logic 1 1 -1 12 4 0 0 0 0
logic 2 1 -1 15 1 6 0 1000 0
logic 3 1 -1 16 4 2 0 12 0
logic 4 1 -1 14 4 3 0 3000 0
logic 5 1 -1 41 4 4 0 0 0

# Programming: global variables
gvar 0 -450 -550 550

# Programming: PID controllers

# OSD: custom elements

# master
set looptime = 1000
set gyro_main_lpf_hz = 25
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set gyro_zero_x = -4
set gyro_zero_y = -2
set ins_gravity_cmss =  978.538
set gyro_adaptive_filter_min_hz = 20
set acc_hardware = ICM42605
set acczero_x = -3
set acczero_y = -5
set acczero_z = 14
set accgain_x = 4097
set accgain_y = 4076
set accgain_z = 4106
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 failsafe_min_distance = 3000
set failsafe_min_distance_procedure = NONE
set align_board_roll = 10
set align_board_yaw = 1800
set vbat_meter_type = ESC
set current_meter_type = ESC
set bat_voltage_src = SAG_COMP
set rth_energy_margin = 15
set small_angle = 180
set applied_defaults = 3
set gps_sbas_mode = EGNOS
set deadband = 8
set yaw_deadband = 8
set pos_hold_deadband = 20
set airmode_type = STICK_CENTER_ONCE
set nav_wp_radius = 800
set nav_wp_max_safe_distance = 500
set nav_min_ground_speed = 9
set nav_min_rth_distance = 2000
set nav_rth_climb_first = ON_FW_SPIRAL
set nav_rth_allow_landing = NEVER
set nav_rth_alt_control_override = ON
set nav_rth_altitude = 6000
set nav_rth_home_altitude = 6000
set nav_rth_use_linear_descent = ON
set safehome_usage_mode = OFF
set nav_cruise_yaw_rate = 40
set nav_fw_bank_angle = 30
set nav_fw_loiter_radius = 2900
set fw_loiter_direction = YAW
set nav_fw_cruise_speed = 1300
set nav_fw_control_smoothness = 2
set nav_fw_launch_accel = 1600
set nav_fw_launch_max_angle = 35
set nav_fw_launch_motor_delay = 100
set nav_fw_launch_timeout = 10000
set nav_fw_launch_max_altitude = 10000
set nav_fw_launch_climb_angle = 30
set nav_fw_allow_manual_thr_increase = ON
set nav_use_fw_yaw_control = ON
set i2c_speed = 800KHZ
set tz_offset = 60
set tz_automatic_dst = EU

# control_profile
control_profile 1

set fw_p_pitch = 15
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 80
set fw_p_roll = 15
set fw_i_roll = 3
set fw_d_roll = 7
set fw_p_yaw = 50
set fw_i_yaw = 0
set fw_d_yaw = 20
set fw_ff_yaw = 255
set dterm_lpf_hz = 10
set fw_reference_airspeed =  1300.000
set fw_turn_assist_yaw_gain =  0.250
set fw_turn_assist_pitch_gain =  0.320
set nav_fw_pos_z_p = 22
set nav_fw_pos_z_i = 6
set nav_fw_pos_z_d = 2
set nav_fw_alt_control_response = 45
set nav_fw_pos_xy_p = 55
set d_boost_min =  1.000
set d_boost_max =  1.000
set tpa_rate = 80
set rc_expo = 30
set rc_yaw_expo = 30

# control_profile
control_profile 2

set fw_p_pitch = 15
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 80
set fw_p_roll = 15
set fw_i_roll = 3
set fw_d_roll = 7
set fw_p_yaw = 50
set fw_i_yaw = 0
set fw_d_yaw = 20
set fw_ff_yaw = 255
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.400
set nav_fw_pos_z_p = 22
set nav_fw_pos_z_i = 6
set nav_fw_pos_z_d = 2
set nav_fw_pos_xy_p = 55
set d_boost_min =  1.000
set d_boost_max =  1.000
set tpa_rate = 80
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 18
set pitch_rate = 9
set yaw_rate = 3

# control_profile
control_profile 3

set fw_p_pitch = 15
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 80
set fw_p_roll = 15
set fw_i_roll = 3
set fw_d_roll = 7
set fw_p_yaw = 50
set fw_i_yaw = 0
set fw_d_yaw = 20
set fw_ff_yaw = 255
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.400
set nav_fw_pos_z_p = 22
set nav_fw_pos_z_i = 6
set nav_fw_pos_z_d = 2
set nav_fw_pos_xy_p = 55
set d_boost_min =  1.000
set d_boost_max =  1.000
set tpa_rate = 80
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 18
set pitch_rate = 9
set yaw_rate = 3

# mixer_profile
mixer_profile 1

set platform_type = AIRPLANE
set has_flaps = ON
set model_preview_type = 28

# Mixer: motor mixer

mmix reset

mmix 0  1.000  0.000  0.000  0.000

# Mixer: servo mixer
smix reset

smix 0 1 0 100 0 -1
smix 1 1 10 -12 0 0
smix 2 1 11 -95 50 1
smix 3 2 0 100 0 -1
smix 4 2 10 12 0 0
smix 5 2 11 95 50 1
smix 6 3 10 -10 0 0
smix 7 3 30 100 0 -1
smix 8 3 11 180 50 1
smix 9 4 10 -10 0 0
smix 10 4 30 100 0 -1
smix 11 4 11 180 50 1
smix 12 5 1 52 0 -1
smix 13 5 2 -48 0 -1
smix 14 5 10 2 0 0
smix 15 6 1 -52 0 -1
smix 16 6 2 -48 0 -1
smix 17 6 10 -2 0 0

# mixer_profile
mixer_profile 2


# Mixer: motor mixer

# Mixer: servo mixer

# battery_profile
battery_profile 1

set bat_cells = 3
set battery_capacity = 3000
set battery_capacity_warning = 900
set battery_capacity_critical = 600
set throttle_idle =  5.000
set nav_fw_launch_thr = 2000
set nav_fw_launch_idle_thr = 1100

# battery_profile
battery_profile 2

set throttle_idle =  5.000

# battery_profile
battery_profile 3

set throttle_idle =  5.000

# restore original profile selection
control_profile 1
mixer_profile 1
battery_profile 1

# save configuration
save

# exit

Leaving CLI mode, unsaved changes lost.

Rebooting