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crusader_gt2_200

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crusader_gt2_200 [2018/03/03 15:19] jeromecrusader_gt2_200 [2018/03/03 16:30] (Version actuelle) – [PIDs] ajouté les PIDs séparés pour BF 3.3 jerome
Ligne 9: Ligne 9:
 **Moteurs :** D-Silver 2205 2300kV   **Moteurs :** D-Silver 2205 2300kV  
 **ESC :** ??   **ESC :** ??  
-**Firmware :** Betaflight 3.?  +**Firmware :** Betaflight 3.0.1 (impossible d'y accéder avec BF Config 10.2.0)
  
  
Ligne 16: Ligne 16:
 Bonne machine, potentiel de puissance impressionnant, bien stable.  Bonne machine, potentiel de puissance impressionnant, bien stable. 
 En 4S, ça devient un monstre de puissance. En 4S, ça devient un monstre de puissance.
 +
 +**Attention à la caméra !** Soleil en pleine face, l'image est totalement cramée et blanche, crash garanti !!
 +
 +Malgré ça, ça reste une excellente machine à mon sens, avec un large potentiel d'évolution. J'ai failli la revendre, préférant à l'époque, clairement, les nano racers (lizard95). Mais finalement, ayant la possibilité de profiter d'un terrain protégé de vol (merci le club =) ), j'ai décidé de le garder. Je ne regrette pas, il faut simplement que je finisse par trouver les bons PIDs. 
  
  
 ===== PIDs ===== ===== PIDs =====
  
-Actuels : +=== Actuels (BF 3.3) === 
 + 
 +set p_pitch = 50 
 +set i_pitch = 50 
 +set d_pitch = 15 
 +set p_roll = 45 
 +set i_roll = 45 
 +set d_roll = 15 
 +set p_yaw = 65 
 +set i_yaw = 50 
 +set d_yaw = 20 
 + 
 +set thr_mid = 50 
 +set thr_expo = 0 
 +set rates_type = BETAFLIGHT 
 +set roll_rc_rate = 100 
 +set pitch_rc_rate = 100 
 +set yaw_rc_rate = 100 
 +set roll_expo = 10 
 +set pitch_expo = 10 
 +set yaw_expo = 10 
 +set roll_srate = 70 
 +set pitch_srate = 70 
 +set yaw_srate = 70 
 +set tpa_rate = 10 
 +set tpa_breakpoint = 1650 
 + 
 + 
 +=== Anciens (BF3.1.6) : === 
 ROLL 54/63/30   ROLL 54/63/30  
 PITCH 58/68/32   PITCH 58/68/32  
Ligne 35: Ligne 68:
 TPA Breakpoint : 1650   TPA Breakpoint : 1650  
  
-**Attention à la caméra !** Soleil en pleine face, l'image est totalement cramée et blanche, crash garanti !! 
  
-Malgré ça, ça reste une excellente machine à mon sens, avec un large potentiel d'évolution. J'ai failli la revendre, préférant à l'époque, clairement, les nano racers (lizard95). Mais finalement, ayant la possibilité de profiter d'un terrain protégé de vol (merci le club =) ), j'ai décidé de le garder. Je ne regrette pas, il faut simplement que je finisse par trouver les bons PIDs.  
 ===== En cours / à régler ===== ===== En cours / à régler =====
  
 Les PIDs sont beaucoup trop 'lâches', l'appareil glisse clairement trop dans les virages.  Les PIDs sont beaucoup trop 'lâches', l'appareil glisse clairement trop dans les virages. 
  
 +
 +===== Dump Betaflight 3.1.6 =====
 +
 +<code>
 +# dump
 +# Betaflight / SPRACINGF3 3.1.6 Feb 21 2017 / 14:44:08 (1fd502c)
 +name -
 +resource BEEPER 1 C15
 +resource MOTOR 1 A06
 +resource MOTOR 2 A07
 +resource MOTOR 3 A11
 +resource MOTOR 4 A12
 +resource MOTOR 5 B08
 +resource MOTOR 6 B09
 +resource MOTOR 7 A02
 +resource MOTOR 8 A03
 +resource MOTOR 9 NONE
 +resource MOTOR 10 NONE
 +resource MOTOR 11 NONE
 +resource MOTOR 12 NONE
 +resource SERVO 1 NONE
 +resource SERVO 2 NONE
 +resource SERVO 3 NONE
 +resource SERVO 4 NONE
 +resource SERVO 5 NONE
 +resource SERVO 6 NONE
 +resource SERVO 7 NONE
 +resource SERVO 8 NONE
 +resource PPM 1 A00
 +resource PWM 1 A00
 +resource PWM 2 A01
 +resource PWM 3 B11
 +resource PWM 4 B10
 +resource PWM 5 B04
 +resource PWM 6 B05
 +resource PWM 7 B00
 +resource PWM 8 B01
 +resource LED_STRIP 1 A08
 +resource SERIAL_TX 1 A09
 +resource SERIAL_TX 2 A14
 +resource SERIAL_TX 3 B10
 +resource SERIAL_TX 4 NONE
 +resource SERIAL_TX 5 NONE
 +resource SERIAL_TX 6 NONE
 +resource SERIAL_TX 7 NONE
 +resource SERIAL_TX 8 NONE
 +resource SERIAL_TX 9 NONE
 +resource SERIAL_TX 10 NONE
 +resource SERIAL_TX 11 B05
 +resource SERIAL_TX 12 B01
 +resource SERIAL_RX 1 A10
 +resource SERIAL_RX 2 A15
 +resource SERIAL_RX 3 B11
 +resource SERIAL_RX 4 NONE
 +resource SERIAL_RX 5 NONE
 +resource SERIAL_RX 6 NONE
 +resource SERIAL_RX 7 NONE
 +resource SERIAL_RX 8 NONE
 +resource SERIAL_RX 9 NONE
 +resource SERIAL_RX 10 NONE
 +resource SERIAL_RX 11 B04
 +resource SERIAL_RX 12 B00
 +mixer QUADX
 +
 +mmix reset
 +
 +servo 0 1000 2000 1500 90 90 100 -1
 +servo 1 1000 2000 1500 90 90 100 -1
 +servo 2 1000 2000 1500 90 90 100 -1
 +servo 3 1000 2000 1500 90 90 100 -1
 +servo 4 1000 2000 1500 90 90 100 -1
 +servo 5 1000 2000 1500 90 90 100 -1
 +servo 6 1000 2000 1500 90 90 100 -1
 +servo 7 1000 2000 1500 90 90 100 -1
 +smix reset
 +
 +
 +feature -RX_PPM
 +feature -VBAT
 +feature -INFLIGHT_ACC_CAL
 +feature -RX_SERIAL
 +feature -MOTOR_STOP
 +feature -SERVO_TILT
 +feature -SOFTSERIAL
 +feature -GPS
 +feature -FAILSAFE
 +feature -SONAR
 +feature -TELEMETRY
 +feature -CURRENT_METER
 +feature -3D
 +feature -RX_PARALLEL_PWM
 +feature -RX_MSP
 +feature -RSSI_ADC
 +feature -LED_STRIP
 +feature -DISPLAY
 +feature -OSD
 +feature -BLACKBOX
 +feature -CHANNEL_FORWARDING
 +feature -TRANSPONDER
 +feature -AIRMODE
 +feature -SDCARD
 +feature -VTX
 +feature -RX_SPI
 +feature -SOFTSPI
 +feature -ESC_SENSOR
 +feature RX_PPM
 +feature VBAT
 +feature FAILSAFE
 +feature CURRENT_METER
 +feature DISPLAY
 +feature OSD
 +beeper GYRO_CALIBRATED
 +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 ACC_CALIBRATION
 +beeper ACC_CALIBRATION_FAIL
 +beeper READY_BEEP
 +beeper MULTI_BEEPS
 +beeper DISARM_REPEAT
 +beeper ARMED
 +beeper SYSTEM_INIT
 +beeper ON_USB
 +map AETR1234
 +serial 0 1 115200 57600 0 115200
 +serial 1 1 115200 57600 0 115200
 +serial 2 64 115200 57600 0 115200
 +led 0 0,0::C:0
 +led 1 0,0::C:0
 +led 2 0,0::C:0
 +led 3 0,0::C:0
 +led 4 0,0::C:0
 +led 5 0,0::C:0
 +led 6 0,0::C:0
 +led 7 0,0::C:0
 +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 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 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 3
 +mode_color 6 7 6
 +mode_color 6 8 0
 +mode_color 6 9 0
 +mode_color 6 10 0
 +mode_color 7 0 3
 +aux 0 0 0 900 1600
 +aux 1 2 0 1400 1600
 +aux 2 0 0 900 900
 +aux 3 0 0 900 900
 +aux 4 0 0 900 900
 +aux 5 0 0 900 900
 +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 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
 +adjrange 12 0 0 900 900 0 0
 +adjrange 13 0 0 900 900 0 0
 +adjrange 14 0 0 900 900 0 0
 +rxrange 0 1122 1950
 +rxrange 1 1122 1950
 +rxrange 2 1162 1990
 +rxrange 3 1130 1958
 +rxfail 0 a
 +rxfail 1 a
 +rxfail 2 a
 +rxfail 3 a
 +rxfail 4 h
 +rxfail 5 h
 +rxfail 6 h
 +rxfail 7 h
 +rxfail 8 h
 +rxfail 9 h
 +rxfail 10 h
 +rxfail 11 h
 +rxfail 12 h
 +rxfail 13 h
 +rxfail 14 h
 +rxfail 15 h
 +rxfail 16 h
 +rxfail 17 h
 +set task_statistics = ON
 +set mid_rc = 1500
 +set min_check = 1100
 +set max_check = 1900
 +set rssi_channel = 0
 +set rssi_scale = 30
 +set rc_interp = AUTO
 +set rc_interp_ch = RP
 +set rc_interp_int = 19
 +set rssi_ppm_invert = OFF
 +set input_filtering_mode = OFF
 +set fpv_mix_degrees = 0
 +set max_aux_channels = 14
 +set debug_mode = NONE
 +set min_throttle = 1070
 +set max_throttle = 2000
 +set min_command = 1000
 +set digital_idle_percent =  4.500
 +set 3d_deadband_low = 1406
 +set 3d_deadband_high = 1514
 +set 3d_neutral = 1460
 +set 3d_deadband_throttle = 50
 +set use_unsynced_pwm = OFF
 +set motor_pwm_protocol = DSHOT600
 +set motor_pwm_rate = 480
 +set disarm_kill_switch = OFF
 +set gyro_cal_on_first_arm = OFF
 +set auto_disarm_delay = 5
 +set small_angle = 25
 +set fixedwing_althold_dir = 1
 +set reboot_character = 82
 +set serial_update_rate_hz = 100
 +set gps_provider = NMEA
 +set gps_sbas_mode = AUTO
 +set gps_auto_config = ON
 +set gps_auto_baud = OFF
 +set gps_wp_radius = 200
 +set nav_controls_heading = ON
 +set nav_speed_min = 100
 +set nav_speed_max = 300
 +set nav_slew_rate = 30
 +set beeper_inversion = ON
 +set beeper_od = OFF
 +set serialrx_provider = SPEK2048
 +set sbus_inversion = ON
 +set spektrum_sat_bind = 9
 +set spektrum_sat_bind_autorst = 1
 +set tlm_switch = OFF
 +set tlm_inversion = ON
 +set sport_halfduplex = ON
 +set frsky_default_lat =  0.000
 +set frsky_default_long =  0.000
 +set frsky_gps_format = 0
 +set frsky_unit = IMPERIAL
 +set frsky_vfas_precision = 0
 +set frsky_vfas_cell_voltage = OFF
 +set hott_alarm_int = 5
 +set pid_in_tlm = OFF
 +set bat_capacity = 0
 +set vbat_scale = 110
 +set vbat_max_cell_voltage = 43
 +set vbat_min_cell_voltage = 33
 +set vbat_warning_cell_voltage = 35
 +set vbat_hysteresis = 1
 +set ibat_scale = 400
 +set ibat_offset = 0
 +set mwii_ibat_output = OFF
 +set current_meter_type = ADC
 +set battery_meter_type = ADC
 +set bat_detect_thresh = 55
 +set use_vbat_alerts = ON
 +set use_cbat_alerts = OFF
 +set cbat_alert_percent = 10
 +set align_gyro = DEFAULT
 +set align_acc = DEFAULT
 +set align_mag = DEFAULT
 +set align_board_roll = 0
 +set align_board_pitch = 0
 +set align_board_yaw = 0
 +set gyro_lpf = OFF
 +set gyro_sync_denom = 4
 +set gyro_use_32khz = OFF
 +set gyro_lowpass_type = PT1
 +set gyro_lowpass = 90
 +set gyro_notch1_hz = 400
 +set gyro_notch1_cut = 300
 +set gyro_notch2_hz = 200
 +set gyro_notch2_cut = 100
 +set moron_threshold = 48
 +set imu_dcm_kp = 2500
 +set imu_dcm_ki = 0
 +set alt_hold_deadband = 40
 +set alt_hold_fast_change = ON
 +set deadband = 0
 +set yaw_deadband = 0
 +set thr_corr_value = 0
 +set thr_corr_angle = 800
 +set yaw_control_direction = 1
 +set yaw_motor_direction = 1
 +set servo_center_pulse = 1500
 +set tri_unarmed_servo = ON
 +set servo_lowpass_hz = 400
 +set servo_lowpass = OFF
 +set servo_pwm_rate = 50
 +set gimbal_mode = NORMAL
 +set channel_forwarding_start = 4
 +set airmode_start_throttle = 1350
 +set failsafe_delay = 10
 +set failsafe_off_delay = 10
 +set failsafe_throttle = 1000
 +set failsafe_kill_switch = OFF
 +set failsafe_throttle_low_delay = 100
 +set failsafe_procedure = DROP
 +set rx_min_usec = 885
 +set rx_max_usec = 2115
 +set acc_hardware = AUTO
 +set acc_lpf_hz = 10
 +set accxy_deadband = 40
 +set accz_deadband = 40
 +set acc_unarmedcal = ON
 +set acc_trim_pitch = 6
 +set acc_trim_roll = 6
 +set baro_tab_size = 21
 +set baro_noise_lpf =  0.600
 +set baro_cf_vel =  0.985
 +set baro_cf_alt =  0.965
 +set baro_hardware = NONE
 +set mag_hardware = NONE
 +set mag_declination = 0
 +set pid_process_denom = 2
 +set blackbox_rate_num = 1
 +set blackbox_rate_denom = 1
 +set blackbox_device = SPIFLASH
 +set blackbox_on_motor_test = OFF
 +set magzero_x = 0
 +set magzero_y = 0
 +set magzero_z = 0
 +set ledstrip_visual_beeper = OFF
 +set displayport_msp_col_adjust = 0
 +set displayport_msp_row_adjust = 0
 +profile 1
 +
 +set gps_pos_p = 15
 +set gps_pos_i = 0
 +set gps_pos_d = 0
 +set gps_posr_p = 34
 +set gps_posr_i = 14
 +set gps_posr_d = 53
 +set gps_nav_p = 25
 +set gps_nav_i = 33
 +set gps_nav_d = 83
 +set yaw_p_limit = 500
 +set pidsum_limit =  0.500
 +set d_lowpass_type = BIQUAD
 +set d_lowpass = 100
 +set d_notch_hz = 260
 +set d_notch_cut = 160
 +set vbat_pid_gain = OFF
 +set pid_at_min_throttle = ON
 +set anti_gravity_thresh = 350
 +set anti_gravity_gain =  1.000
 +set setpoint_relax_ratio = 20
 +set d_setpoint_weight = 100
 +set yaw_accel_limit =  10.000
 +set accel_limit =  0.000
 +set iterm_windup = 50
 +set yaw_lowpass = 0
 +set p_pitch = 58
 +set i_pitch = 68
 +set d_pitch = 32
 +set p_roll = 54
 +set i_roll = 63
 +set d_roll = 30
 +set p_yaw = 70
 +set i_yaw = 65
 +set d_yaw = 20
 +set p_alt = 50
 +set i_alt = 0
 +set d_alt = 0
 +set p_level = 50
 +set i_level = 50
 +set d_level = 100
 +set p_vel = 55
 +set i_vel = 55
 +set d_vel = 75
 +set level_sensitivity = 55
 +set level_limit = 55
 +rateprofile 0
 +rateprofile 0
 +
 +set rc_rate = 65
 +set rc_rate_yaw = 105
 +set rc_expo = 40
 +set rc_yaw_expo = 40
 +set thr_mid = 50
 +set thr_expo = 0
 +set roll_srate = 80
 +set pitch_srate = 80
 +set yaw_srate = 68
 +set tpa_rate = 10
 +set tpa_breakpoint = 1650
 +</code>
 +
 +
 +===== Dump Betaflight 3.3 =====
 +
 +Je suis passé sous BF 3.3 le 03.03.2018. 
 +J'ai passé les ESC (aikon SEFM30A) en Multishot.
 +
 +<code>
 +# Betaflight / SPRACINGF3 (SRF3) 3.3.0 Mar  2 2018 / 04:02:50 (177472b4f) MSP API: 1.37
 +name -
 +resource BEEPER 1 C15
 +resource MOTOR 1 A06
 +resource MOTOR 2 A07
 +resource MOTOR 3 A11
 +resource MOTOR 4 A12
 +resource MOTOR 5 B08
 +resource MOTOR 6 B09
 +resource MOTOR 7 A02
 +resource MOTOR 8 A03
 +resource SERVO 1 NONE
 +resource SERVO 2 NONE
 +resource SERVO 3 NONE
 +resource SERVO 4 NONE
 +resource SERVO 5 NONE
 +resource SERVO 6 NONE
 +resource SERVO 7 NONE
 +resource SERVO 8 NONE
 +resource PPM 1 A00
 +resource PWM 1 A00
 +resource PWM 2 A01
 +resource PWM 3 B11
 +resource PWM 4 B10
 +resource PWM 5 B04
 +resource PWM 6 B05
 +resource PWM 7 B00
 +resource PWM 8 B01
 +resource SONAR_TRIGGER 1 B00
 +resource SONAR_ECHO 1 B01
 +resource LED_STRIP 1 A08
 +resource SERIAL_TX 1 A09
 +resource SERIAL_TX 2 A14
 +resource SERIAL_TX 3 B10
 +resource SERIAL_TX 4 NONE
 +resource SERIAL_TX 5 NONE
 +resource SERIAL_TX 6 NONE
 +resource SERIAL_TX 7 NONE
 +resource SERIAL_TX 8 NONE
 +resource SERIAL_TX 9 NONE
 +resource SERIAL_TX 10 NONE
 +resource SERIAL_TX 11 B05
 +resource SERIAL_TX 12 B01
 +resource SERIAL_RX 1 A10
 +resource SERIAL_RX 2 A15
 +resource SERIAL_RX 3 B11
 +resource SERIAL_RX 4 NONE
 +resource SERIAL_RX 5 NONE
 +resource SERIAL_RX 6 NONE
 +resource SERIAL_RX 7 NONE
 +resource SERIAL_RX 8 NONE
 +resource SERIAL_RX 9 NONE
 +resource SERIAL_RX 10 NONE
 +resource SERIAL_RX 11 B04
 +resource SERIAL_RX 12 B00
 +resource I2C_SCL 1 B06
 +resource I2C_SCL 2 NONE
 +resource I2C_SDA 1 B07
 +resource I2C_SDA 2 NONE
 +resource LED 1 B03
 +resource LED 2 NONE
 +resource LED 3 NONE
 +resource RX_BIND 1 NONE
 +resource RX_BIND_PLUG 1 NONE
 +resource SPI_SCK 1 NONE
 +resource SPI_SCK 2 B13
 +resource SPI_SCK 3 NONE
 +resource SPI_MISO 1 NONE
 +resource SPI_MISO 2 B14
 +resource SPI_MISO 3 NONE
 +resource SPI_MOSI 1 NONE
 +resource SPI_MOSI 2 B15
 +resource SPI_MOSI 3 NONE
 +resource ESCSERIAL 1 A00
 +resource CAMERA_CONTROL 1 NONE
 +resource ADC_BATT 1 A04
 +resource ADC_RSSI 1 B02
 +resource ADC_CURR 1 A05
 +resource ADC_EXT 1 NONE
 +resource BARO_CS 1 NONE
 +resource COMPASS_CS 1 NONE
 +resource PINIO 1 NONE
 +resource PINIO 2 NONE
 +resource PINIO 3 NONE
 +resource PINIO 4 NONE
 +mixer QUADX
 +
 +mmix reset
 +
 +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
 +smix reset
 +
 +
 +feature -RX_PPM
 +feature -INFLIGHT_ACC_CAL
 +feature -RX_SERIAL
 +feature -MOTOR_STOP
 +feature -SERVO_TILT
 +feature -SOFTSERIAL
 +feature -GPS
 +feature -RANGEFINDER
 +feature -TELEMETRY
 +feature -3D
 +feature -RX_PARALLEL_PWM
 +feature -RX_MSP
 +feature -RSSI_ADC
 +feature -LED_STRIP
 +feature -DISPLAY
 +feature -OSD
 +feature -CHANNEL_FORWARDING
 +feature -TRANSPONDER
 +feature -AIRMODE
 +feature -RX_SPI
 +feature -SOFTSPI
 +feature -ESC_SENSOR
 +feature -ANTI_GRAVITY
 +feature -DYNAMIC_FILTER
 +feature RX_PPM
 +feature TELEMETRY
 +feature RSSI_ADC
 +feature AIRMODE
 +beeper GYRO_CALIBRATED
 +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 ACC_CALIBRATION
 +beeper ACC_CALIBRATION_FAIL
 +beeper READY_BEEP
 +beeper MULTI_BEEPS
 +beeper DISARM_REPEAT
 +beeper ARMED
 +beeper SYSTEM_INIT
 +beeper ON_USB
 +beeper BLACKBOX_ERASE
 +beeper CRASH FLIP
 +beeper CAM_CONNECTION_OPEN
 +beeper CAM_CONNECTION_CLOSED
 +map AETR1234
 +serial 0 1 115200 57600 0 115200
 +serial 1 0 115200 57600 0 115200
 +serial 2 0 115200 57600 0 115200
 +led 0 0,0::C:0
 +led 1 0,0::C:0
 +led 2 0,0::C:0
 +led 3 0,0::C:0
 +led 4 0,0::C:0
 +led 5 0,0::C:0
 +led 6 0,0::C:0
 +led 7 0,0::C:0
 +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 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 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 3
 +mode_color 6 7 6
 +mode_color 6 8 0
 +mode_color 6 9 0
 +mode_color 6 10 0
 +mode_color 7 0 3
 +aux 0 0 0 900 1700 0
 +aux 1 2 0 1300 1700 0
 +aux 2 4 1 900 1500 0
 +aux 3 0 0 900 900 0
 +aux 4 0 0 900 900 0
 +aux 5 0 0 900 900 0
 +aux 6 0 0 900 900 0
 +aux 7 0 0 900 900 0
 +aux 8 0 0 900 900 0
 +aux 9 0 0 900 900 0
 +aux 10 0 0 900 900 0
 +aux 11 0 0 900 900 0
 +aux 12 0 0 900 900 0
 +aux 13 0 0 900 900 0
 +aux 14 0 0 900 900 0
 +aux 15 0 0 900 900 0
 +aux 16 0 0 900 900 0
 +aux 17 0 0 900 900 0
 +aux 18 0 0 900 900 0
 +aux 19 0 0 900 900 0
 +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
 +adjrange 12 0 0 900 900 0 0
 +adjrange 13 0 0 900 900 0 0
 +adjrange 14 0 0 900 900 0 0
 +rxrange 0 1122 1950
 +rxrange 1 1122 1950
 +rxrange 2 1162 1990
 +rxrange 3 1130 1958
 +vtx 0 0 0 0 900 900
 +vtx 1 0 0 0 900 900
 +vtx 2 0 0 0 900 900
 +vtx 3 0 0 0 900 900
 +vtx 4 0 0 0 900 900
 +vtx 5 0 0 0 900 900
 +vtx 6 0 0 0 900 900
 +vtx 7 0 0 0 900 900
 +vtx 8 0 0 0 900 900
 +vtx 9 0 0 0 900 900
 +rxfail 0 a
 +rxfail 1 a
 +rxfail 2 a
 +rxfail 3 a
 +rxfail 4 h
 +rxfail 5 h
 +rxfail 6 h
 +rxfail 7 h
 +rxfail 8 h
 +rxfail 9 h
 +rxfail 10 h
 +rxfail 11 h
 +rxfail 12 h
 +rxfail 13 h
 +rxfail 14 h
 +rxfail 15 h
 +rxfail 16 h
 +rxfail 17 h
 +set align_gyro = DEFAULT
 +set gyro_lpf = OFF
 +set gyro_sync_denom = 4
 +set gyro_lowpass_type = PT1
 +set gyro_lowpass_hz = 90
 +set gyro_notch1_hz = 400
 +set gyro_notch1_cutoff = 300
 +set gyro_notch2_hz = 200
 +set gyro_notch2_cutoff = 100
 +set gyro_stage2_lowpass_hz = 0
 +set moron_threshold = 48
 +set gyro_offset_yaw = 0
 +set gyro_overflow_detect = ALL
 +set align_acc = DEFAULT
 +set acc_hardware = AUTO
 +set acc_lpf_hz = 10
 +set acc_trim_pitch = 0
 +set acc_trim_roll = 0
 +set align_mag = DEFAULT
 +set mag_bustype = I2C
 +set mag_i2c_device = 1
 +set mag_i2c_address = 0
 +set mag_spi_device = 0
 +set mag_hardware = AUTO
 +set mag_declination = 0
 +set magzero_x = 0
 +set magzero_y = 0
 +set magzero_z = 0
 +set baro_bustype = I2C
 +set baro_spi_device = 0
 +set baro_i2c_device = 1
 +set baro_i2c_address = 0
 +set baro_hardware = AUTO
 +set baro_tab_size = 21
 +set baro_noise_lpf = 600
 +set baro_cf_vel = 985
 +set baro_cf_alt = 965
 +set mid_rc = 1500
 +set min_check = 1050
 +set max_check = 1900
 +set rssi_channel = 0
 +set rssi_scale = 41
 +set rssi_invert = OFF
 +set rc_interp = AUTO
 +set rc_interp_ch = RP
 +set rc_interp_int = 19
 +set fpv_mix_degrees = 0
 +set max_aux_channels = 14
 +set serialrx_provider = SPEK1024
 +set serialrx_inverted = OFF
 +set spektrum_sat_bind = 0
 +set spektrum_sat_bind_autoreset = ON
 +set airmode_start_throttle_percent = 32
 +set rx_min_usec = 885
 +set rx_max_usec = 2115
 +set serialrx_halfduplex = OFF
 +set input_filtering_mode = OFF
 +set blackbox_p_ratio = 32
 +set blackbox_device = SPIFLASH
 +set blackbox_record_acc = ON
 +set blackbox_mode = NORMAL
 +set min_throttle = 1070
 +set max_throttle = 2000
 +set min_command = 1000
 +set dshot_idle_value = 450
 +set dshot_burst = OFF
 +set use_unsynced_pwm = OFF
 +set motor_pwm_protocol = MULTISHOT
 +set motor_pwm_rate = 480
 +set motor_pwm_inversion = OFF
 +set thr_corr_value = 0
 +set thr_corr_angle = 800
 +set failsafe_delay = 4
 +set failsafe_off_delay = 10
 +set failsafe_throttle = 1000
 +set failsafe_kill_switch = OFF
 +set failsafe_throttle_low_delay = 100
 +set failsafe_procedure = DROP
 +set align_board_roll = 0
 +set align_board_pitch = 0
 +set align_board_yaw = 0
 +set gimbal_mode = NORMAL
 +set bat_capacity = 0
 +set vbat_max_cell_voltage = 43
 +set vbat_full_cell_voltage = 41
 +set vbat_min_cell_voltage = 33
 +set vbat_warning_cell_voltage = 35
 +set vbat_hysteresis = 1
 +set current_meter = ADC
 +set battery_meter = ADC
 +set vbat_detect_cell_voltage = 30
 +set use_vbat_alerts = ON
 +set use_cbat_alerts = OFF
 +set cbat_alert_percent = 10
 +set vbat_cutoff_percent = 100
 +set vbat_scale = 110
 +set ibata_scale = 400
 +set ibata_offset = 0
 +set ibatv_scale = 0
 +set ibatv_offset = 0
 +set beeper_inversion = ON
 +set beeper_od = OFF
 +set beeper_frequency = 0
 +set beeper_dshot_beacon_tone = 0
 +set yaw_motors_reversed = OFF
 +set 3d_deadband_low = 1406
 +set 3d_deadband_high = 1514
 +set 3d_neutral = 1460
 +set 3d_deadband_throttle = 50
 +set 3d_switched_mode = OFF
 +set servo_center_pulse = 1500
 +set servo_pwm_rate = 50
 +set servo_lowpass_hz = 0
 +set tri_unarmed_servo = ON
 +set channel_forwarding_start = 4
 +set reboot_character = 82
 +set serial_update_rate_hz = 100
 +set accxy_deadband = 40
 +set accz_deadband = 40
 +set acc_unarmedcal = ON
 +set imu_dcm_kp = 2500
 +set imu_dcm_ki = 0
 +set small_angle = 25
 +set auto_disarm_delay = 5
 +set gyro_cal_on_first_arm = OFF
 +set deadband = 3
 +set yaw_deadband = 0
 +set yaw_control_reversed = OFF
 +set pid_process_denom = 2
 +set runaway_takeoff_prevention = ON
 +set runaway_takeoff_deactivate_delay = 500
 +set runaway_takeoff_deactivate_throttle_percent = 25
 +set tlm_switch = OFF
 +set tlm_inverted = OFF
 +set tlm_halfduplex = ON
 +set frsky_vfas_precision = 0
 +set hott_alarm_int = 5
 +set pid_in_tlm = OFF
 +set ledstrip_visual_beeper = OFF
 +set osd_units = METRIC
 +set osd_warnings = -1
 +set osd_rssi_alarm = 20
 +set osd_cap_alarm = 2200
 +set osd_alt_alarm = 100
 +set osd_ah_max_pit = 20
 +set osd_ah_max_rol = 40
 +set osd_tim1 = 2560
 +set osd_tim2 = 2561
 +set osd_vbat_pos = 234
 +set osd_rssi_pos = 234
 +set osd_tim_1_pos = 234
 +set osd_tim_2_pos = 234
 +set osd_remaining_time_estimate_pos = 234
 +set osd_flymode_pos = 234
 +set osd_throttle_pos = 234
 +set osd_vtx_channel_pos = 234
 +set osd_crosshairs = 234
 +set osd_ah_sbar = 234
 +set osd_ah_pos = 234
 +set osd_current_pos = 234
 +set osd_mah_drawn_pos = 234
 +set osd_craft_name_pos = 234
 +set osd_gps_speed_pos = 234
 +set osd_gps_lon_pos = 234
 +set osd_gps_lat_pos = 234
 +set osd_gps_sats_pos = 234
 +set osd_home_dir_pos = 234
 +set osd_home_dist_pos = 234
 +set osd_compass_bar_pos = 234
 +set osd_altitude_pos = 234
 +set osd_pid_roll_pos = 234
 +set osd_pid_pitch_pos = 234
 +set osd_pid_yaw_pos = 234
 +set osd_debug_pos = 234
 +set osd_power_pos = 234
 +set osd_pidrate_profile_pos = 234
 +set osd_warnings_pos = 2377
 +set osd_avg_cell_voltage_pos = 234
 +set osd_pit_ang_pos = 234
 +set osd_rol_ang_pos = 234
 +set osd_battery_usage_pos = 234
 +set osd_disarmed_pos = 234
 +set osd_nheading_pos = 234
 +set osd_nvario_pos = 234
 +set osd_esc_tmp_pos = 234
 +set osd_esc_rpm_pos = 234
 +set osd_rtc_date_time_pos = 234
 +set osd_adjustment_range_pos = 234
 +set osd_core_temp_pos = 234
 +set osd_stat_max_spd = ON
 +set osd_stat_max_dist = OFF
 +set osd_stat_min_batt = ON
 +set osd_stat_min_rssi = ON
 +set osd_stat_max_curr = ON
 +set osd_stat_used_mah = ON
 +set osd_stat_max_alt = OFF
 +set osd_stat_bbox = ON
 +set osd_stat_endbatt = OFF
 +set osd_stat_bb_no = ON
 +set osd_stat_rtc_date_time = OFF
 +set osd_stat_tim_1 = OFF
 +set osd_stat_tim_2 = ON
 +set task_statistics = ON
 +set debug_mode = NONE
 +set rate_6pos_switch = OFF
 +set pwr_on_arm_grace = 5
 +set vtx_band = 4
 +set vtx_channel = 1
 +set vtx_power = 1
 +set vtx_low_power_disarm = OFF
 +set vtx_freq = 5740
 +set vtx_pit_mode_freq = 0
 +set vtx_halfduplex = ON
 +set displayport_msp_col_adjust = 0
 +set displayport_msp_row_adjust = 0
 +set esc_sensor_halfduplex = OFF
 +set led_inversion = 0
 +set camera_control_mode = HARDWARE_PWM
 +set camera_control_ref_voltage = 330
 +set camera_control_key_delay = 180
 +set camera_control_internal_resistance = 470
 +set rangefinder_hardware = NONE
 +set pinio_config = 1,1,1,1
 +set pinio_box = 255,255,255,255
 +profile 0
 +
 +set dterm_lowpass_type = BIQUAD
 +set dterm_lowpass = 100
 +set dterm_notch_hz = 260
 +set dterm_notch_cutoff = 160
 +set vbat_pid_gain = OFF
 +set pid_at_min_throttle = ON
 +set anti_gravity_threshold = 350
 +set anti_gravity_gain = 1000
 +set setpoint_relax_ratio = 30
 +set dterm_setpoint_weight = 200
 +set acc_limit_yaw = 100
 +set acc_limit = 0
 +set crash_dthreshold = 50
 +set crash_gthreshold = 400
 +set crash_setpoint_threshold = 350
 +set crash_time = 500
 +set crash_delay = 0
 +set crash_recovery_angle = 10
 +set crash_recovery_rate = 100
 +set crash_limit_yaw = 200
 +set crash_recovery = OFF
 +set iterm_windup = 50
 +set iterm_limit = 150
 +set pidsum_limit = 500
 +set pidsum_limit_yaw = 400
 +set yaw_lowpass = 0
 +set p_pitch = 50
 +set i_pitch = 50
 +set d_pitch = 15
 +set p_roll = 45
 +set i_roll = 45
 +set d_roll = 15
 +set p_yaw = 65
 +set i_yaw = 50
 +set d_yaw = 20
 +set p_level = 50
 +set i_level = 50
 +set d_level = 75
 +set level_limit = 55
 +set horizon_tilt_effect = 75
 +set horizon_tilt_expert_mode = OFF
 +rateprofile 0
 +
 +set thr_mid = 50
 +set thr_expo = 0
 +set rates_type = BETAFLIGHT
 +set roll_rc_rate = 100
 +set pitch_rc_rate = 100
 +set yaw_rc_rate = 100
 +set roll_expo = 10
 +set pitch_expo = 10
 +set yaw_expo = 10
 +set roll_srate = 70
 +set pitch_srate = 70
 +set yaw_srate = 70
 +set tpa_rate = 10
 +set tpa_breakpoint = 1650
 +</code>
crusader_gt2_200.1520086789.txt.gz · Dernière modification : 2018/03/03 15:19 de jerome