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- Entering CLI Mode, type 'exit' to return, or 'help'
- # dump
- # version
- # INAV/MATEKF405 1.9.1 Apr 21 2018 / 13:25:29 (03a5c1922)
- # resources
- # mixer
- mixer QUADX
- mmix reset
- # servo mix
- smix reset
- # servo
- servo 0 1000 2000 1500 100 -1
- servo 1 1000 2000 1500 100 -1
- servo 2 1000 2000 1500 100 -1
- servo 3 1000 2000 1500 100 -1
- servo 4 1000 2000 1500 100 -1
- servo 5 1000 2000 1500 100 -1
- servo 6 1000 2000 1500 100 -1
- servo 7 1000 2000 1500 100 -1
- # feature
- feature -RX_PPM
- feature -VBAT
- feature -TX_PROF_SEL
- feature -MOTOR_STOP
- feature -SERVO_TILT
- feature -SOFTSERIAL
- feature -GPS
- feature -TELEMETRY
- feature -CURRENT_METER
- feature -3D
- feature -RX_PARALLEL_PWM
- feature -RX_MSP
- feature -RSSI_ADC
- feature -LED_STRIP
- feature -DASHBOARD
- feature -BLACKBOX
- feature -CHANNEL_FORWARDING
- feature -TRANSPONDER
- feature -AIRMODE
- feature -SUPEREXPO
- feature -VTX
- feature -RX_SPI
- feature -PWM_SERVO_DRIVER
- feature -PWM_OUTPUT_ENABLE
- feature -OSD
- feature -FW_LAUNCH
- feature -TRACE
- feature VBAT
- feature TX_PROF_SEL
- feature GPS
- feature CURRENT_METER
- feature BLACKBOX
- feature AIRMODE
- feature PWM_OUTPUT_ENABLE
- feature OSD
- # beeper
- beeper RUNTIME_CALIBRATION
- beeper HW_FAILURE
- beeper RX_LOST
- beeper RX_LOST_LANDING
- beeper DISARMING
- beeper ARMING
- beeper ARMING_GPS_FIX
- beeper BAT_CRIT_LOW
- beeper BAT_LOW
- beeper GPS_STATUS
- beeper RX_SET
- beeper ACTION_SUCCESS
- beeper ACTION_FAIL
- beeper READY_BEEP
- beeper MULTI_BEEPS
- beeper DISARM_REPEAT
- beeper ARMED
- beeper SYSTEM_INIT
- beeper ON_USB
- beeper LAUNCH_MODE
- beeper CAM_CONNECTION_OPEN
- beeper CAM_CONNECTION_CLOSED
- # map
- map TAER
- # name
- name -
- # serial
- serial 20 1 115200 38400 0 115200
- serial 0 2 115200 57600 0 115200
- serial 1 64 115200 38400 0 115200
- serial 2 0 115200 38400 0 115200
- serial 3 0 115200 38400 0 115200
- serial 4 0 115200 38400 0 115200
- # led
- led 0 4,0::A:3
- led 1 5,0::G:3
- led 2 6,0::C:0
- led 3 7,0::C:0
- led 4 8,0::C:0
- led 5 9,0::C:0
- led 6 10,0::G:3
- led 7 11,0::A:3
- led 8 0,0::C:0
- led 9 0,0::C:0
- led 10 0,0::C:0
- led 11 0,0::C:0
- led 12 0,0::C:0
- led 13 0,0::C:0
- led 14 0,0::C:0
- led 15 0,0::C:0
- led 16 0,0::C:0
- led 17 0,0::C:0
- led 18 0,0::C:0
- led 19 0,0::C:0
- led 20 0,0::C:0
- led 21 0,0::C:0
- led 22 0,0::C:0
- led 23 0,0::C:0
- led 24 0,0::C:0
- led 25 0,0::C:0
- led 26 0,0::C:0
- led 27 0,0::C:0
- led 28 0,0::C:0
- led 29 0,0::C:0
- led 30 0,0::C:0
- led 31 0,0::C:0
- # color
- color 0 0,0,0
- color 1 0,255,255
- color 2 0,0,255
- color 3 30,0,255
- color 4 60,0,255
- color 5 90,0,255
- color 6 120,0,255
- color 7 150,0,255
- color 8 180,0,255
- color 9 210,0,255
- color 10 240,0,255
- color 11 270,0,255
- color 12 300,0,255
- color 13 330,0,255
- color 14 0,0,0
- color 15 0,0,0
- # mode_color
- mode_color 0 0 1
- mode_color 0 1 11
- mode_color 0 2 2
- mode_color 0 3 13
- mode_color 0 4 10
- mode_color 0 5 3
- mode_color 1 0 5
- mode_color 1 1 11
- mode_color 1 2 3
- mode_color 1 3 13
- mode_color 1 4 10
- mode_color 1 5 3
- mode_color 2 0 10
- mode_color 2 1 11
- mode_color 2 2 4
- mode_color 2 3 13
- mode_color 2 4 10
- mode_color 2 5 3
- mode_color 3 0 8
- mode_color 3 1 11
- mode_color 3 2 4
- mode_color 3 3 13
- mode_color 3 4 10
- mode_color 3 5 3
- mode_color 4 0 7
- mode_color 4 1 11
- mode_color 4 2 3
- mode_color 4 3 13
- mode_color 4 4 10
- mode_color 4 5 3
- mode_color 5 0 9
- mode_color 5 1 11
- mode_color 5 2 2
- mode_color 5 3 13
- mode_color 5 4 10
- mode_color 5 5 3
- mode_color 6 0 6
- mode_color 6 1 10
- mode_color 6 2 1
- mode_color 6 3 0
- mode_color 6 4 0
- mode_color 6 5 2
- mode_color 6 6 8
- mode_color 6 7 6
- mode_color 6 8 0
- mode_color 6 9 0
- mode_color 6 10 0
- # aux
- aux 0 0 0 1800 2075
- aux 1 1 3 1125 2100
- aux 2 3 3 1700 2100
- aux 3 9 3 1700 2100
- aux 4 8 4 1700 2100
- aux 5 11 2 1300 2100
- aux 6 0 0 900 900
- aux 7 0 0 900 900
- aux 8 0 0 900 900
- aux 9 0 0 900 900
- aux 10 0 0 900 900
- aux 11 0 0 900 900
- aux 12 0 0 900 900
- aux 13 0 0 900 900
- aux 14 0 0 900 900
- aux 15 0 0 900 900
- aux 16 0 0 900 900
- aux 17 0 0 900 900
- aux 18 0 0 900 900
- aux 19 0 0 900 900
- # adjrange
- adjrange 0 0 0 900 900 0 0
- adjrange 1 0 0 900 900 0 0
- adjrange 2 0 0 900 900 0 0
- adjrange 3 0 0 900 900 0 0
- adjrange 4 0 0 900 900 0 0
- adjrange 5 0 0 900 900 0 0
- adjrange 6 0 0 900 900 0 0
- adjrange 7 0 0 900 900 0 0
- adjrange 8 0 0 900 900 0 0
- adjrange 9 0 0 900 900 0 0
- adjrange 10 0 0 900 900 0 0
- adjrange 11 0 0 900 900 0 0
- # rxrange
- rxrange 0 1000 2000
- rxrange 1 1000 2000
- rxrange 2 1000 2000
- rxrange 3 1000 2000
- # master
- set looptime = 1000
- set gyro_sync = ON
- set align_gyro = DEFAULT
- set gyro_hardware_lpf = 98HZ
- set gyro_lpf_hz = 60
- set moron_threshold = 32
- set gyro_notch1_hz = 0
- set gyro_notch1_cutoff = 1
- set gyro_notch2_hz = 0
- set gyro_notch2_cutoff = 1
- set vbat_adc_channel = 1
- set rssi_adc_channel = 3
- set current_adc_channel = 2
- set airspeed_adc_channel = 0
- set acc_notch_hz = 0
- set acc_notch_cutoff = 1
- set align_acc = DEFAULT
- set acc_hardware = MPU6500
- set acc_lpf_hz = 15
- set acczero_x = -18
- set acczero_y = -40
- set acczero_z = -29
- set accgain_x = 4083
- set accgain_y = 4086
- set accgain_z = 4079
- set rangefinder_hardware = NONE
- set rangefinder_median_filter = OFF
- set align_mag = CW270FLIP
- set mag_hardware = HMC5883
- set mag_declination = 0
- set magzero_x = -59
- set magzero_y = 72
- set magzero_z = 10
- set mag_calibration_time = 30
- set align_mag_roll = 0
- set align_mag_pitch = 0
- set align_mag_yaw = 0
- set baro_hardware = BMP280
- set baro_median_filter = ON
- set pitot_hardware = NONE
- set pitot_use_median_filter = ON
- set pitot_noise_lpf = 0.600
- set pitot_scale = 1.000
- set receiver_type = SERIAL
- set mid_rc = 1500
- set min_check = 1100
- set max_check = 1900
- set rssi_channel = 16
- set rssi_scale = 100
- set rssi_invert = OFF
- set rc_smoothing = ON
- set serialrx_provider = SBUS
- set serialrx_inverted = OFF
- set rx_spi_rf_channel_count = 0
- set spektrum_sat_bind = 0
- set rx_min_usec = 885
- set rx_max_usec = 2115
- set serialrx_halfduplex = OFF
- set blackbox_rate_num = 1
- set blackbox_rate_denom = 2
- set blackbox_device = SDCARD
- set sdcard_detect_inverted = OFF
- set min_throttle = 1200
- set max_throttle = 1950
- set min_command = 1000
- set motor_pwm_rate = 2000
- set motor_pwm_protocol = MULTISHOT
- set failsafe_delay = 5
- set failsafe_recovery_delay = 5
- set failsafe_off_delay = 200
- set failsafe_throttle = 1000
- set failsafe_throttle_low_delay = 0
- set failsafe_procedure = RTH
- set failsafe_stick_threshold = 50
- set failsafe_fw_roll_angle = -200
- set failsafe_fw_pitch_angle = 100
- set failsafe_fw_yaw_rate = -45
- set failsafe_min_distance = 0
- set failsafe_min_distance_procedure = DROP
- set align_board_roll = 2
- set align_board_pitch = 0
- set align_board_yaw = 0
- set gimbal_mode = NORMAL
- set vbat_scale = 1100
- set vbat_max_cell_voltage = 420
- set vbat_min_cell_voltage = 330
- set vbat_warning_cell_voltage = 350
- set battery_capacity = 1500
- set battery_capacity_warning = 0
- set battery_capacity_critical = 0
- set battery_capacity_unit = MAH
- set current_meter_scale = 179
- set current_meter_offset = 0
- set current_meter_type = ADC
- set yaw_motor_direction = 1
- set yaw_jump_prevention_limit = 200
- set 3d_deadband_low = 1406
- set 3d_deadband_high = 1514
- set 3d_neutral = 1460
- set servo_center_pulse = 1500
- set servo_pwm_rate = 50
- set servo_lpf_hz = 20
- set flaperon_throw_offset = 200
- set tri_unarmed_servo = ON
- set reboot_character = 82
- set imu_dcm_kp = 2500
- set imu_dcm_ki = 50
- set imu_dcm_kp_mag = 10000
- set imu_dcm_ki_mag = 0
- set small_angle = 180
- set fixed_wing_auto_arm = OFF
- set disarm_kill_switch = ON
- set auto_disarm_delay = 5
- set gps_provider = UBLOX
- set gps_sbas_mode = EGNOS
- set gps_dyn_model = AIR_1G
- set gps_auto_config = ON
- set gps_auto_baud = ON
- set gps_ublox_use_galileo = OFF
- set gps_min_sats = 6
- set deadband = 5
- set yaw_deadband = 5
- set pos_hold_deadband = 20
- set alt_hold_deadband = 50
- set 3d_deadband_throttle = 50
- set fw_autotune_overshoot_time = 100
- set fw_autotune_undershoot_time = 200
- set fw_autotune_threshold = 50
- set fw_autotune_ff_to_p_gain = 10
- set fw_autotune_ff_to_i_tc = 600
- set inav_auto_mag_decl = ON
- set inav_gravity_cal_tolerance = 5
- set inav_use_gps_velned = ON
- set inav_reset_altitude = FIRST_ARM
- set inav_max_surface_altitude = 200
- set inav_w_z_surface_p = 3.500
- set inav_w_z_surface_v = 6.100
- set inav_w_z_baro_p = 0.350
- set inav_w_z_gps_p = 0.200
- set inav_w_z_gps_v = 0.500
- set inav_w_xy_gps_p = 1.000
- set inav_w_xy_gps_v = 2.000
- set inav_w_z_res_v = 0.500
- set inav_w_xy_res_v = 0.500
- set inav_w_acc_bias = 0.010
- set inav_max_eph_epv = 1000.000
- set inav_baro_epv = 100.000
- set nav_disarm_on_landing = OFF
- set nav_use_midthr_for_althold = ON
- set nav_extra_arming_safety = OFF
- set nav_user_control_mode = CRUISE
- set nav_position_timeout = 5
- set nav_wp_radius = 200
- set nav_wp_safe_distance = 10000
- set nav_auto_speed = 500
- set nav_auto_climb_rate = 500
- set nav_manual_speed = 500
- set nav_manual_climb_rate = 200
- set nav_landing_speed = 200
- set nav_land_slowdown_minalt = 500
- set nav_land_slowdown_maxalt = 2000
- set nav_emerg_landing_speed = 500
- set nav_min_rth_distance = 500
- set nav_rth_climb_first = ON
- set nav_rth_climb_ignore_emerg = OFF
- set nav_rth_tail_first = OFF
- set nav_rth_allow_landing = ALWAYS
- set nav_rth_alt_mode = AT_LEAST
- set nav_rth_abort_threshold = 50000
- set nav_rth_altitude = 3000
- set nav_mc_bank_angle = 30
- set nav_mc_hover_thr = 1500
- set nav_mc_auto_disarm_delay = 2000
- set nav_fw_cruise_thr = 1400
- set nav_fw_min_thr = 1200
- set nav_fw_max_thr = 1700
- set nav_fw_bank_angle = 20
- set nav_fw_climb_angle = 20
- set nav_fw_dive_angle = 15
- set nav_fw_pitch2thr = 10
- set nav_fw_loiter_radius = 5000
- set nav_fw_land_dive_angle = 2
- set nav_fw_launch_velocity = 300
- set nav_fw_launch_accel = 1863
- set nav_fw_launch_max_angle = 45
- set nav_fw_launch_detect_time = 40
- set nav_fw_launch_thr = 1700
- set nav_fw_launch_idle_thr = 1000
- set nav_fw_launch_motor_delay = 500
- set nav_fw_launch_spinup_time = 100
- set nav_fw_launch_min_time = 0
- set nav_fw_launch_timeout = 5000
- set nav_fw_launch_max_altitude = 0
- set nav_fw_launch_climb_angle = 18
- set telemetry_switch = OFF
- set telemetry_inverted = OFF
- set frsky_default_latitude = 0.000
- set frsky_default_longitude = 0.000
- set frsky_coordinates_format = 0
- set frsky_unit = METRIC
- set frsky_vfas_precision = 0
- set report_cell_voltage = OFF
- set hott_alarm_sound_interval = 5
- set smartport_uart_unidir = OFF
- set smartport_fuel_unit = MAH
- set ibus_telemetry_type = 0
- set ltm_update_rate = NORMAL
- set ledstrip_visual_beeper = OFF
- set osd_video_system = 1
- set osd_row_shiftdown = 0
- set osd_units = METRIC
- set osd_stats_energy_unit = MAH
- set osd_rssi_alarm = 20
- set osd_time_alarm = 10
- set osd_alt_alarm = 100
- set osd_artificial_horizon_reverse_roll = OFF
- set osd_crosshairs_style = DEFAULT
- set osd_left_sidebar_scroll = NONE
- set osd_right_sidebar_scroll = NONE
- set osd_sidebar_scroll_arrows = OFF
- set osd_main_voltage_pos = 2497
- set osd_main_voltage_decimals = 1
- set osd_rssi_pos = 2167
- set osd_flytimer_pos = 2518
- set osd_ontime_pos = 279
- set osd_flymode_pos = 2444
- set osd_throttle_pos = 2177
- set osd_vtx_channel_pos = 33
- set osd_crosshairs_pos = 0
- set osd_artificial_horizon_pos = 2248
- set osd_horizon_sidebars_pos = 200
- set osd_current_draw_pos = 2337
- set osd_mah_drawn_pos = 2433
- set osd_wh_drawn_pos = 161
- set osd_bat_remaining_capacity_pos = 129
- set osd_bat_remaining_percent_pos = 2401
- set osd_craft_name_pos = 84
- set osd_gps_speed_pos = 55
- set osd_gps_sats_pos = 2135
- set osd_gps_lon_pos = 2145
- set osd_gps_lat_pos = 2113
- set osd_home_dir_pos = 2414
- set osd_home_dist_pos = 2416
- set osd_altitude_pos = 2326
- set osd_vario_pos = 2248
- set osd_vario_num_pos = 2406
- set osd_pid_roll_pos = 384
- set osd_pid_pitch_pos = 16
- set osd_pid_yaw_pos = 386
- set osd_power_pos = 47
- set osd_air_speed_pos = 163
- set osd_ontime_flytime_pos = 375
- set osd_rtc_time_pos = 407
- set osd_messages_pos = 2466
- set osd_gps_hdop_pos = 2103
- set osd_main_cell_voltage_pos = 2369
- set osd_throttle_auto_thr_pos = 70
- set osd_heading_graph_pos = 2090
- set osd_efficiency_mah_pos = 161
- set osd_efficiency_wh_pos = 161
- set i2c_speed = 400KHZ
- set debug_mode = NONE
- set acc_task_frequency = 500
- set attitude_task_frequency = 250
- set async_mode = NONE
- set throttle_tilt_comp_str = 0
- set input_filtering_mode = OFF
- set mode_range_logic_operator = OR
- set stats = OFF
- set stats_total_time = 0
- set stats_total_dist = 0
- set stats_total_energy = 0
- set tz_offset = 0
- set display_force_sw_blink = OFF
- # profile
- profile 2
- set mc_p_pitch = 40
- set mc_i_pitch = 15
- set mc_d_pitch = 50
- set mc_p_roll = 40
- set mc_i_roll = 14
- set mc_d_roll = 50
- set mc_p_yaw = 50
- set mc_i_yaw = 40
- set mc_d_yaw = 0
- set mc_p_level = 20
- set mc_i_level = 15
- set mc_d_level = 75
- set fw_p_pitch = 5
- set fw_i_pitch = 7
- set fw_ff_pitch = 50
- set fw_p_roll = 5
- set fw_i_roll = 7
- set fw_ff_roll = 50
- set fw_p_yaw = 6
- set fw_i_yaw = 10
- set fw_ff_yaw = 60
- set fw_p_level = 20
- set fw_i_level = 5
- set fw_d_level = 75
- set max_angle_inclination_rll = 300
- set max_angle_inclination_pit = 300
- set dterm_lpf_hz = 40
- set yaw_lpf_hz = 30
- set dterm_setpoint_weight = 0.000
- set fw_iterm_throw_limit = 165
- set fw_reference_airspeed = 1000.000
- set fw_turn_assist_yaw_gain = 1.000
- set dterm_notch_hz = 0
- set dterm_notch_cutoff = 1
- set pidsum_limit = 500
- set yaw_p_limit = 300
- set iterm_ignore_threshold = 200
- set yaw_iterm_ignore_threshold = 50
- set rate_accel_limit_roll_pitch = 0
- set rate_accel_limit_yaw = 10000
- set heading_hold_rate_limit = 90
- set nav_mc_pos_z_p = 50
- set nav_mc_pos_z_i = 0
- set nav_mc_pos_z_d = 0
- set nav_mc_vel_z_p = 100
- set nav_mc_vel_z_i = 50
- set nav_mc_vel_z_d = 10
- set nav_mc_pos_xy_p = 65
- set nav_mc_pos_xy_i = 120
- set nav_mc_pos_xy_d = 10
- set nav_mc_vel_xy_p = 40
- set nav_mc_vel_xy_i = 15
- set nav_mc_vel_xy_d = 100
- set nav_mc_heading_p = 60
- set nav_fw_pos_z_p = 50
- set nav_fw_pos_z_i = 0
- set nav_fw_pos_z_d = 0
- set nav_fw_pos_xy_p = 75
- set nav_fw_pos_xy_i = 5
- set nav_fw_pos_xy_d = 8
- set nav_fw_heading_p = 60
- set thr_mid = 50
- set thr_expo = 0
- set tpa_rate = 0
- set tpa_breakpoint = 1500
- set fw_tpa_time_constant = 0
- set rc_expo = 70
- set rc_yaw_expo = 20
- set roll_rate = 40
- set pitch_rate = 40
- set yaw_rate = 35
- set manual_rc_expo = 70
- set manual_rc_yaw_expo = 20
- set manual_roll_rate = 100
- set manual_pitch_rate = 100
- set manual_yaw_rate = 100
- #
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