Flying Fish with Matek F405-WMN Diff All

diff all

# version
# INAV/MATEKF405TE 8.0.1 Mar 28 2025 / 09:55:38 (ae47bcba)
# 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 1000 2000 1500 -100
servo 2 1000 2000 1500 -100
servo 3 1000 2000 1500 -100
servo 4 1000 2000 1500 -100

# safehome

# Fixed Wing Approach

# geozone

# geozone vertices

# features
feature -TX_PROF_SEL
feature GPS
feature PWM_OUTPUT_ENABLE
feature FW_LAUNCH

# beeper
beeper -RUNTIME_CALIBRATION
beeper -HW_FAILURE
beeper -BAT_CRIT_LOW
beeper -BAT_LOW
beeper -GPS_STATUS
beeper -ACTION_SUCCESS
beeper -ACTION_FAIL
beeper -READY_BEEP
beeper -DISARM_REPEAT
beeper -ARMED
beeper -SYSTEM_INIT
beeper -ON_USB
beeper -LAUNCH_MODE
beeper -LAUNCH_MODE_LOW_THROTTLE
beeper -LAUNCH_MODE_IDLE_START
beeper -CAM_CONNECTION_OPEN
beeper -CAM_CONNECTION_CLOSED

# 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 2 33554432 115200 115200 0 115200
serial 3 2 115200 115200 0 115200

# LEDs

# LED color

# LED mode_color

# Modes [aux]
aux 0 0 0 1800 2100
aux 1 51 4 1700 2100
aux 2 12 1 1300 1700
aux 3 11 2 1300 1700
aux 4 10 2 1700 2100
aux 5 21 1 1700 2100
aux 6 13 3 1700 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]
osd_layout 0 0 46 0 V
osd_layout 0 1 12 0 H
osd_layout 0 6 12 1 V
osd_layout 0 7 3 0 V
osd_layout 0 8 20 0 V
osd_layout 0 9 11 0 V
osd_layout 0 11 2 3 H
osd_layout 0 12 1 4 H
osd_layout 0 13 31 16 V
osd_layout 0 14 7 16 V
osd_layout 0 15 38 17 V
osd_layout 0 20 7 17 V
osd_layout 0 21 23 17 V
osd_layout 0 22 19 16 V
osd_layout 0 23 22 16 V
osd_layout 0 28 10 1 H
osd_layout 0 30 12 13 V
osd_layout 0 31 13 16 V
osd_layout 0 32 23 1 V
osd_layout 0 40 37 16 V
osd_layout 0 96 27 16 H
osd_layout 0 110 37 1 V
osd_layout 0 112 36 0 V

# Programming: logic

# Programming: global variables

# Programming: PID controllers

# OSD: custom elements

# master
set gyro_main_lpf_hz = 90
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 60
set dynamic_gyro_notch_mode = 3D
set setpoint_kalman_q = 200
set gyro_zero_x = 1
set gyro_zero_y = -3
set ins_gravity_cmss =  983.214
set gyro_adaptive_filter_min_hz = 20
set acc_hardware = ICM42605
set acczero_x = -1
set acczero_y = -1
set acczero_z = -16
set accgain_x = 4092
set accgain_y = 4095
set accgain_z = 4087
set align_mag = CW270FLIP
set mag_hardware = NONE
set baro_hardware = SPL06
set blackbox_rate_denom = 5
set motor_pwm_protocol = DSHOT300
set motor_poles = 12
set failsafe_procedure = RTH
set current_meter_scale = 250
set small_angle = 180
set applied_defaults = 3
set airmode_type = STICK_CENTER_ONCE
set nav_wp_radius = 800
set nav_wp_max_safe_distance = 500
set nav_rth_climb_first = OFF
set nav_rth_allow_landing = FS_ONLY
set nav_rth_alt_mode = MAX
set nav_rth_altitude = 10000
set nav_rth_home_altitude = 10000
set nav_fw_loiter_radius = 10000
set nav_fw_control_smoothness = 2
set nav_fw_launch_max_angle = 180
set nav_fw_launch_motor_delay = 100
set nav_fw_launch_max_altitude = 10000
set nav_fw_launch_climb_angle = 25
set osd_video_system = AVATAR
set name = FLYING FISH

# control_profile
control_profile 1

set fw_p_pitch = 15
set fw_i_pitch = 20
set fw_ff_pitch = 100
set fw_p_roll = 15
set fw_i_roll = 20
set fw_ff_roll = 125
set fw_p_yaw = 15
set fw_i_yaw = 20
set fw_ff_yaw = 150
set rc_expo = 47
set rc_yaw_expo = 47
set roll_rate = 36
set pitch_rate = 18
set yaw_rate = 9
set ez_filter_hz = 90
set ez_response = 90
set ez_aggressiveness = 90
set ez_rate = 25

# control_profile
control_profile 2


# control_profile
control_profile 3


# mixer_profile
mixer_profile 1

set platform_type = AIRPLANE
set has_flaps = ON
set model_preview_type = 26

# Mixer: motor mixer

mmix reset

mmix 0  1.000  0.000  0.000  0.300
mmix 1  1.000  0.000  0.000 -0.300

# Mixer: servo mixer
smix reset

smix 0 1 2 100 0 -1
smix 1 2 0 100 0 -1
smix 2 3 0 100 0 -1
smix 3 4 1 100 0 -1

# mixer_profile
mixer_profile 2


# Mixer: motor mixer

# Mixer: servo mixer

# battery_profile
battery_profile 1

set bat_cells = 3
set vbat_warning_cell_voltage = 360
set throttle_idle =  5.000
set nav_fw_cruise_thr = 1600
set nav_fw_max_thr = 1800
set nav_fw_launch_thr = 1800

# 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

#