Différences

Ci-dessous, les différences entre deux révisions de la page.

--- crusader_gt2_200 [2018/03/03 15:21] – jerome
+++ crusader_gt2_200 [2018/03/03 16:30] (Version actuelle) – [PIDs] ajouté les PIDs séparés pour BF 3.3 jerome
@@ Ligne 24: / Ligne 24: @@
 ===== 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
 PITCH 58/68/32
@@ Ligne 44: / Ligne 73: @@
 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>