INAV 2.5 DIFF ALL

diff all

# version
# INAV/MATEKF722SE 2.5.0 Jun  7 2020 / 11:43:20 (694767938)
# GCC-9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599]

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# 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

# servo

# logic

# gvar

# gf

# feature
feature GPS
feature PWM_OUTPUT_ENABLE

# beeper

# map
map TAER

# serial
serial 0 2 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

# color

# mode_color

# 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

# adjrange

# rxrange

# temp_sensor

# wp
#wp 0 invalid

# osd_layout
osd_layout 0 0 26 1 V
osd_layout 0 1 1 13 H
osd_layout 0 3 8 6 H
osd_layout 0 4 8 6 H
osd_layout 0 7 13 13 V
osd_layout 0 9 1 2 H
osd_layout 0 11 2 11 V
osd_layout 0 12 1 12 V
osd_layout 0 14 25 2 V
osd_layout 0 15 1 1 V
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 25 24 5 V
osd_layout 0 26 25 7 V
osd_layout 0 28 23 12 V
osd_layout 0 30 1 14 V
osd_layout 0 31 25 3 V
osd_layout 0 32 1 13 V
osd_layout 0 34 10 1 V
osd_layout 0 35 2 10 V
osd_layout 0 40 23 13 V
osd_layout 0 41 1 8 V
osd_layout 0 42 1 7 V
osd_layout 0 50 15 0 H
osd_layout 0 85 1 2 V
osd_layout 0 97 0 0 H
osd_layout 1 0 26 1 V
osd_layout 1 2 0 0 V
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 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 32 1 1 V

# master
set looptime = 500
set gyro_hardware_lpf = 256HZ
set gyro_lpf_hz = 95
set gyro_lpf_type = PT1
set dynamic_gyro_notch_enabled = ON
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 100
set gyro_to_use = 1
set acc_hardware = MPU6500
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 align_mag = CW270FLIP
set mag_hardware = QMC5883
set magzero_x = 8
set magzero_y = -466
set magzero_z = -633
set baro_hardware = BMP280
set pitot_hardware = NONE
set rssi_channel = 12
set serialrx_provider = CRSF
set blackbox_rate_denom = 2
set motor_pwm_rate = 8000
set motor_pwm_protocol = DSHOT300
set throttle_idle =  7.000
set failsafe_procedure = RTH
set current_meter_scale = 200
set model_preview_type = 3
set small_angle = 180
set applied_defaults = 2
set rpm_gyro_filter_enabled = ON
set gps_sbas_mode = EGNOS
set gps_ublox_use_galileo = ON
set deadband = 0
set yaw_deadband = 0
set mc_airmode_type = THROTTLE_THRESHOLD
set nav_disarm_on_landing = ON
set nav_auto_speed = 400
set nav_rth_altitude = 2000
set nav_mc_bank_angle = 45
set osd_units = IMPERIAL
set osd_rssi_alarm = 70
set osd_time_alarm = 15
set osd_alt_alarm = 400
set osd_dist_alarm = 2000
set osd_crosshairs_style = TYPE6
set i2c_speed = 800KHZ
set debug_mode = GYRO
set vtx_band = 5
set vtx_channel = 3

# profile
profile 1

set mc_p_pitch = 65
set mc_i_pitch = 100
set mc_d_pitch = 35
set mc_p_roll = 65
set mc_i_roll = 100
set mc_d_roll = 35
set mc_p_yaw = 70
set mc_i_yaw = 80
set mc_p_level = 35
set max_angle_inclination_rll = 450
set max_angle_inclination_pit = 450
set dterm_lpf_hz = 85
set dterm_lpf_type = PT1
set dterm_lpf2_hz = 140
set dterm_lpf2_type = PT1
set use_dterm_fir_filter = OFF
set dterm_setpoint_weight =  0.600
set mc_iterm_relax_cutoff = 7
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 rc_yaw_expo = 70
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 = 4000
set battery_capacity_warning = 600
set battery_capacity_critical = 400

# battery_profile
battery_profile 2


# battery_profile
battery_profile 3


# restore original profile selection
profile 1
battery_profile 1

# save configuration
save

#