diff all

# version
# INAV/SPEEDYBEEF405WING 7.1.2 Jun  1 2024 / 00:47:23 (4e1e59eb)
# GCC-10.3.1 20210824 (release)

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# Timer overrides

# Outputs [servo]
servo 1 1000 2000 1500 -100

# safehome

# Fixed Wing Approach

# features
feature GPS
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

# Receiver: Channel map

# Ports
serial 0 0 115200 115200 0 115200
serial 1 64 115200 115200 0 115200
serial 4 33554432 115200 115200 0 115200

# LEDs

# LED color

# LED mode_color

# Modes [aux]
aux 0 0 4 1800 2100
aux 1 2 0 900 1300
aux 2 12 0 1700 2100
aux 3 10 2 1600 2100
aux 4 21 1 1800 2100
aux 5 54 1 900 1200
aux 6 13 3 1800 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]
osd_layout 0 0 50 0 V
osd_layout 0 1 43 19 V
osd_layout 0 2 0 0 V
osd_layout 0 3 8 6 V
osd_layout 0 7 44 0 V
osd_layout 0 9 13 11 V
osd_layout 0 11 31 19 V
osd_layout 0 12 24 19 V
osd_layout 0 13 14 10 V
osd_layout 0 14 6 17 V
osd_layout 0 15 34 10 V
osd_layout 0 20 0 19 V
osd_layout 0 21 0 18 V
osd_layout 0 22 26 4 V
osd_layout 0 23 24 3 V
osd_layout 0 24 24 1 V
osd_layout 0 25 29 6 H
osd_layout 0 26 36 11 V
osd_layout 0 28 0 0 V
osd_layout 0 29 8 0 V
osd_layout 0 30 13 14 V
osd_layout 0 31 0 17 V
osd_layout 0 32 36 19 V
osd_layout 0 34 22 0 V
osd_layout 0 35 0 2 V
osd_layout 0 40 0 1 V
osd_layout 0 46 0 15 V
osd_layout 0 96 34 9 V
osd_layout 0 100 0 14 V
osd_layout 0 105 50 1 V
osd_layout 0 125 6 7 H
osd_layout 0 138 0 4 H

# Programming: logic

# Programming: global variables

# Programming: PID controllers

# OSD: custom elements

# master
set gyro_main_lpf_hz = 25
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set gyro_zero_x = -3
set gyro_zero_y = 2
set gyro_zero_z = 9
set ins_gravity_cmss =  980.465
set acc_hardware = ICM42605
set acczero_x = -11
set acczero_y = 9
set acczero_z = 58
set accgain_x = 4094
set accgain_y = 4095
set accgain_z = 4100
set align_mag = CW90FLIP
set mag_hardware = NONE
set magzero_x = 30
set magzero_y = 963
set magzero_z = -30
set maggain_x = 1373
set maggain_y = 1383
set maggain_z = 1432
set baro_hardware = SPL06
set serialrx_provider = SBUS
set motor_pwm_protocol = STANDARD
set motor_poles = 9
set failsafe_procedure = RTH
set align_board_yaw = 1800
set servo_pwm_rate = 100
set small_angle = 180
set applied_defaults = 4
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set gps_ublox_use_beidou = ON
set gps_ublox_use_glonass = ON
set airmode_type = STICK_CENTER_ONCE
set nav_wp_radius = 1000
set nav_wp_max_safe_distance = 500
set nav_rth_allow_landing = NEVER
set nav_rth_altitude = 15000
set nav_fw_bank_angle = 45
set nav_fw_control_smoothness = 2
set nav_fw_launch_max_angle = 75
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 osd_video_system = BFHDCOMPAT
set osd_time_alarm = 0
set osd_alt_alarm = 150
set osd_dist_alarm = 2000
set osd_neg_alt_alarm = 0
set osd_crosshairs_style = TYPE3
set name = DART250
set tz_offset = 60
set tz_automatic_dst = EU

# mixer_profile
mixer_profile 1

set platform_type = AIRPLANE
set model_preview_type = 8
set motorstop_on_low = ON

# Mixer: motor mixer

mmix reset

mmix 0  1.000  0.000  0.000  0.000

# Mixer: servo mixer
smix reset

smix 0 1 0 50 0 -1
smix 1 1 1 50 0 -1
smix 2 2 0 -50 0 -1
smix 3 2 1 50 0 -1

# mixer_profile
mixer_profile 2


# Mixer: motor mixer

# Mixer: servo mixer

# profile
profile 1

set fw_p_pitch = 15
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 70
set fw_p_roll = 15
set fw_i_roll = 3
set fw_d_roll = 7
set fw_p_yaw = 20
set fw_i_yaw = 0
set fw_ff_yaw = 100
set max_angle_inclination_rll = 550
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.300
set nav_fw_pos_z_p = 35
set nav_fw_pos_xy_p = 70
set d_boost_min =  1.000
set d_boost_max =  1.000
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 18
set pitch_rate = 9
set yaw_rate = 3

# profile
profile 2

set max_angle_inclination_rll = 600
set max_angle_inclination_pit = 600
set fw_level_pitch_trim =  2.000

# profile
profile 3


# battery_profile
battery_profile 1

set vbat_min_cell_voltage = 300
set vbat_warning_cell_voltage = 320
set throttle_idle =  5.000
set nav_fw_launch_thr = 2000

# battery_profile
battery_profile 2


# battery_profile
battery_profile 3


# restore original profile selection
mixer_profile 1
profile 2
battery_profile 1

# save configuration
save

#