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Diff Retrik

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12 views

Diff Retrik

Uploaded by

killunder91
Copyright
© © All Rights Reserved
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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Entering CLI Mode, type 'exit' to return, or 'help'

# diff all

# version
# INAV/STELLARF4 7.1.0 Apr 23 2024 / 15:05:53 (aa854365)
# GCC-10.3.1 20210824 (release)

# start the command batch


batch start

# reset configuration to default settings


defaults noreboot

# resources

# Timer overrides

# Outputs [servo]

# safehome

# Fixed Wing Approach

# 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 0 2048 115200 115200 0 115200
serial 3 0 115200 115200 0 115200
serial 5 2 115200 115200 0 115200

# LEDs

# LED color

# LED mode_color

# Modes [aux]
aux 0 0 0 1700 2100
aux 1 1 2 1300 1700
aux 2 2 2 1700 2100
aux 3 11 3 1300 1700
aux 4 10 3 1700 2100
aux 5 8 7 900 2100
aux 6 47 4 900 1825

# 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 1 12 V
osd_layout 0 6 22 12 V
osd_layout 0 7 7 0 V
osd_layout 0 9 1 0 V
osd_layout 0 11 2 11 V
osd_layout 0 12 1 6 H
osd_layout 0 14 24 2 V
osd_layout 0 15 23 8 V
osd_layout 0 22 3 6 V
osd_layout 0 23 1 7 V
osd_layout 0 28 23 12 H
osd_layout 0 30 1 14 V
osd_layout 0 35 2 9 V
osd_layout 0 40 1 8 V
osd_layout 0 85 24 7 V
osd_layout 0 110 24 1 V
osd_layout 0 112 23 0 V

# Programming: logic

# Programming: global variables

# Programming: PID controllers

# OSD: custom elements

# master
set looptime = 500
set gyro_main_lpf_type = PT1
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_mode = 3D
set setpoint_kalman_q = 200
set gyro_zero_x = 1
set gyro_zero_y = -1
set gyro_zero_z = 4
set ins_gravity_cmss = 997.723
set acc_hardware = BMI270
set acczero_x = 4
set acczero_y = 11
set acczero_z = -10
set accgain_x = 3927
set accgain_y = 4111
set accgain_z = 4095
set align_mag = CW270FLIP
set mag_hardware = QMC5883
set magzero_x = 156
set magzero_y = -156
set magzero_z = -48
set maggain_x = 1140
set maggain_y = 1082
set maggain_z = 1219
set align_mag_pitch = 1800
set align_mag_yaw = 900
set baro_hardware = SPL06
set serialrx_provider = CRSF
set blackbox_rate_denom = 2
set motor_pwm_protocol = DSHOT300
set failsafe_procedure = RTH
set vbat_scale = 4400
set applied_defaults = 5
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set gps_ublox_use_beidou = ON
set gps_ublox_use_glonass = ON
set airmode_type = THROTTLE_THRESHOLD
set osd_time_alarm = 60
set osd_alt_alarm = 500
set osd_dist_alarm = 10000
set vtx_band = 5
set vtx_channel = 3

# mixer_profile
mixer_profile 1

set motor_direction_inverted = ON
set model_preview_type = 3

# 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 0 100 0 -1
smix 1 2 0 100 0 -1
smix 2 3 0 100 0 -1
smix 3 5 18 100 0 -1
smix 4 5 12 150 0 -1

# mixer_profile
mixer_profile 2
# Mixer: motor mixer

# Mixer: servo mixer

# 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 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 = 75
set rc_yaw_expo = 75
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60
set ez_filter_hz = 90

# profile
profile 2

set mc_p_pitch = 35
set mc_i_pitch = 82
set mc_d_pitch = 32
set mc_cd_pitch = 110
set mc_p_roll = 32
set mc_i_roll = 75
set mc_d_roll = 29
set mc_cd_roll = 100
set mc_p_yaw = 40
set mc_i_yaw = 80
set mc_cd_yaw = 100
set dterm_lpf_hz = 55
set smith_predictor_delay = 2.653
set rc_expo = 67
set rc_yaw_expo = 67
set roll_rate = 57
set pitch_rate = 57
set yaw_rate = 47
set ez_enabled = ON
set ez_filter_hz = 60
set ez_response = 80
set ez_damping = 130
set ez_rate = 90

# profile
profile 3

# battery_profile
battery_profile 1

set vbat_min_cell_voltage = 200


set vbat_warning_cell_voltage = 330
set throttle_idle = 5.000

# battery_profile
battery_profile 2

# battery_profile
battery_profile 3

# restore original profile selection


mixer_profile 1
profile 3
battery_profile 1

# save configuration
save

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