Falcon 130 Baseline Setup

# Betaflight 2.3.5
# FC: Dodo
# ESCs: DYS XM20A
# Motors: RCX 1407 3200kV
# RX: SBUS X4R with SPort telemetry

# features
feature -MOTOR_STOP
feature VBAT
feature RX_SERIAL
feature FAILSAFE
feature TELEMETRY
feature ONESHOT125
feature BLACKBOX

# Min/max (calibrate ESCs at 1050/2000, then reduce to 1950)
set min_throttle = 1050
set max_throttle = 1950

# Always arm
set small_angle = 180

# serial
set serialrx_provider = SBUS
serial 0 1 115200 57600 0 115200
serial 1 32 115200 57600 0 115200
serial 2 64 115200 57600 0 115200

# Telemetry
set telemetry_inversion = ON

# Blackbox
set blackbox_device = SPIFLASH

# Failsafe
# Enter failsafe if RX drops for 1 second
set failsafe_delay = 10
# Run motors at failsafe_throttle for 1 second
set failsafe_off_delay = 10
# Don't enter failsafe if throttle was at min_throttle for last 1 second
set failsafe_throttle_low_delay = 100
# Shut off motors when failsafe activated (not actually necessary)
set failsafe_throttle = 1000

# rateprofile
rateprofile 0

# Rates
set rc_rate = 100
set rc_expo = 70
set rc_yaw_expo = 20
set thr_mid = 50
set thr_expo = 0
set roll_rate = 60
set pitch_rate = 60
set yaw_rate = 60
set tpa_rate = 0
set tpa_breakpoint = 1500

# profile
profile 0

# Switches
aux 0 1 0 1800 2100
aux 1 2 0 1300 1700
aux 2 27 3 900 1200
aux 3 12 1 1800 2100
aux 4 25 2 1800 2100

# PIDs
set pid_controller = MWREWRITE
set p_pitch = 28
set i_pitch = 40
set d_pitch = 25
set p_roll = 28
set i_roll = 40
set d_roll = 25
set p_yaw = 55
set i_yaw = 50
set d_yaw = 1

save