inav

inav

Entering CLI Mode, type 'exit' to return, or 'help'

# diff

# version
# INAV/JHEMCUF722 6.1.1 Jun 27 2023 / 08:58:55 (GITDIR-N)
# GCC-10.2.1 20201103 (release)

# start the command batch
batch start

# resources

# Mixer: motor mixer

mmix reset

mmix 0  1.000 -1.000  1.000 -1.000
mmix 1  1.000 -1.000 -1.000  1.000
mmix 2  1.000  1.000  1.000  1.000
mmix 3  1.000  1.000 -1.000 -1.000

# Mixer: servo mixer
smix reset

smix 0 1 17 100 0 -1
smix 1 2 18 100 0 -1

# Outputs [servo]

# safehome

# features
feature GPS
feature PWM_OUTPUT_ENABLE

# 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 4 2 115200 115200 0 115200
serial 5 33554432 115200 115200 0 115200

# LEDs

# LED color

# LED mode_color

# Modes [aux]
aux 0 0 0 1500 2100
aux 1 1 3 1500 2100
aux 2 1 2 1300 2100
aux 3 1 4 1500 2100
aux 4 11 2 1700 2100
aux 5 10 4 1500 2100
aux 6 3 2 1300 2100
aux 7 13 5 1500 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]
osd_layout 0 0 43 2 V
osd_layout 0 1 1 16 V
osd_layout 0 7 36 0 V
osd_layout 0 9 0 15 V
osd_layout 0 11 11 17 V
osd_layout 0 12 1 17 V
osd_layout 0 14 49 2 V
osd_layout 0 15 0 0 V
osd_layout 0 20 43 0 V
osd_layout 0 21 43 1 V
osd_layout 0 22 26 2 V
osd_layout 0 23 11 1 V
osd_layout 0 28 37 17 V
osd_layout 0 30 12 13 V
osd_layout 0 34 22 0 V
osd_layout 0 35 18 17 V
osd_layout 0 40 11 0 V
osd_layout 0 85 1 1 V
osd_layout 0 96 4 7 H
osd_layout 0 109 47 17 V
osd_layout 0 110 48 16 V
osd_layout 0 112 48 15 V
osd_layout 0 142 28 17 V

# Programming: logic

# Programming: global variables

# Programming: PID controllers

# master
set looptime = 500
set gyro_main_lpf_hz = 90
set gyro_main_lpf_type = PT1
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_y = -14
set gyro_zero_z = 5
set ins_gravity_cmss =  977.935
set acc_hardware = ICM42605
set acczero_x = -2
set acczero_y = -5
set acczero_z = -4
set accgain_x = 4087
set accgain_y = 4098
set accgain_z = 4101
set align_mag = CW90FLIP
set mag_hardware = QMC5883
set magzero_x = -450
set magzero_y = -1000
set magzero_z = -298
set maggain_x = 1392
set maggain_y = 1726
set maggain_z = 1274
set align_mag_roll = 200
set align_mag_pitch = 1800
set align_mag_yaw = 900
set baro_hardware = SPL06
set rssi_source = PROTOCOL
set serialrx_provider = CRSF
set blackbox_rate_denom = 32
set motor_pwm_protocol = DSHOT300
set failsafe_delay = 10
set failsafe_procedure = RTH
set align_board_yaw = 450
set current_meter_scale = 320
set motor_direction_inverted = ON
set model_preview_type = 3
set applied_defaults = 5
set gps_sbas_mode = EGNOS
set gps_ublox_use_galileo = ON
set deadband = 2
set yaw_deadband = 2
set airmode_type = THROTTLE_THRESHOLD
set osd_video_system = AVATAR
set i2c_speed = 800KHZ
set pilot_name = WKICH
set tz_offset = 240

# profile
profile 1

set mc_p_pitch = 44
set mc_i_pitch = 85
set mc_d_pitch = 28
set mc_i_roll = 75
set mc_d_roll = 26
set mc_p_yaw = 40
set mc_i_yaw = 80
set max_angle_inclination_rll = 400
set max_angle_inclination_pit = 400
set dterm_lpf_hz = 80
set dterm_lpf_type = PT3
set mc_iterm_relax = RPY
set d_boost_min =  0.800
set d_boost_max =  1.200
set antigravity_gain =  2.000
set antigravity_accelerator =  5.000
set smith_predictor_delay =  1.500
set tpa_rate = 20
set tpa_breakpoint = 1200
set rc_expo = 90
set rc_yaw_expo = 90
set roll_rate = 90
set pitch_rate = 90
set yaw_rate = 90

# battery_profile
battery_profile 1

set vbat_min_cell_voltage = 270
set vbat_warning_cell_voltage = 320
set battery_capacity = 8400
set throttle_idle =  5.000

# save configuration
save

# end the command batch
batch end

#