# version # INAV/ATOMRCF405NAVI 6.0.0 Feb 9 2023 / 10:03:44 (92b237e5) # GCC-10.2.1 20201103 (release) # start the command batch batch start # resources # Mixer: motor mixer mmix reset mmix 0 1.000 0.000 0.000 0.000 mmix 1 1.000 0.000 0.000 0.000 # Mixer: servo mixer smix reset smix 0 1 0 100 0 -1 smix 1 2 0 100 0 -1 smix 2 3 1 80 0 -1 smix 3 3 2 -100 0 -1 smix 4 4 1 -80 0 -1 smix 5 4 2 -100 0 -1 # Outputs [servo] servo 1 1000 2000 1526 -100 servo 2 1000 2000 1526 -100 servo 3 1000 2000 1469 -100 servo 4 1000 2000 1473 -100 # safehome # features feature -AIRMODE feature MOTOR_STOP feature GPS feature PWM_OUTPUT_ENABLE 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 3 2 115200 115200 0 115200 # LEDs # LED color # LED mode_color # Modes [aux] aux 0 0 0 1425 2100 aux 1 1 1 900 1575 aux 2 12 1 1625 2100 aux 3 53 2 1325 1700 aux 4 11 2 1700 2100 aux 5 10 3 1300 2100 aux 6 21 4 1425 2100 aux 7 26 0 1300 2100 # Adjustments [adjrange] # Receiver rxrange # temp_sensor # Mission Control Waypoints [wp] #wp 0 invalid # OSD [osd_layout] osd_layout 0 0 23 0 H osd_layout 0 1 0 15 V osd_layout 0 3 8 6 V osd_layout 0 7 0 1 V osd_layout 0 9 10 1 V osd_layout 0 11 6 15 V osd_layout 0 12 0 13 V osd_layout 0 13 5 10 V osd_layout 0 14 24 0 V osd_layout 0 15 23 8 V osd_layout 0 22 14 14 V osd_layout 0 23 13 15 V osd_layout 0 28 23 15 V osd_layout 0 30 2 4 V osd_layout 0 32 0 14 V osd_layout 0 40 24 1 V osd_layout 0 41 0 2 V osd_layout 0 42 0 3 V osd_layout 0 112 19 10 V # Programming: logic # Programming: global variables # Programming: PID controllers # master set gyro_main_lpf_hz = 25 set dynamic_gyro_notch_q = 250 set dynamic_gyro_notch_min_hz = 30 set gyro_zero_y = -6 set ins_gravity_cmss = 1005.030 set acc_hardware = BMI270 set acczero_x = -15 set acczero_y = 8 set acczero_z = -11 set accgain_x = 4098 set accgain_y = 4086 set accgain_z = 4100 set align_mag = CW270FLIP set mag_hardware = NONE set baro_hardware = SPL06 set serialrx_provider = CRSF set motor_pwm_protocol = DSHOT600 set failsafe_procedure = RTH set align_board_pitch = -1800 set platform_type = AIRPLANE set model_preview_type = 28 set small_angle = 180 set applied_defaults = 3 set airmode_type = STICK_CENTER_ONCE set inav_w_z_baro_p = 0.350 set nav_extra_arming_safety = ALLOW_BYPASS set nav_wp_radius = 5000 set nav_wp_max_safe_distance = 500 set nav_rth_allow_landing = FS_ONLY set nav_rth_altitude = 5000 set nav_fw_bank_angle = 45 set nav_fw_control_smoothness = 2 set nav_fw_launch_max_angle = 15 set nav_fw_launch_motor_delay = 100 set nav_fw_launch_max_altitude = 5000 set nav_fw_launch_climb_angle = 25 set osd_video_system = PAL # profile profile 2 set fw_i_roll = 3 set max_angle_inclination_rll = 450 set dterm_lpf_hz = 10 set fw_turn_assist_pitch_gain = 0.400 set nav_fw_pos_z_p = 25 set nav_fw_pos_z_d = 8 set nav_fw_pos_xy_p = 55 set d_boost_min = 1.000 set d_boost_max = 1.000 set fw_level_pitch_trim = 6.000 set rc_expo = 30 set rc_yaw_expo = 30 set roll_rate = 18 set pitch_rate = 9 set yaw_rate = 3 # battery_profile battery_profile 1 set throttle_idle = 5.000 set nav_fw_launch_thr = 1500 # save configuration save