razor1200.cfg

# INAV/MATEKF411SE 3.0.2 Sep 15 2021 / 10:13:43 (66011184)
# GCC-9.3.1 20200408 (release)

# start the command batch
batch start

# resources

# mixer

mmix reset

mmix 0  1.000  0.000  0.000  0.000

# servo mix
smix reset

smix 0 2 1 100 0 -1
smix 1 3 0 100 0 -1
smix 2 4 0 100 0 -1

# servo
servo 3 1000 2000 1500 -100
servo 4 1000 2000 1500 -100

# safehome

# logic

# gvar

# pid

# feature
feature BAT_PROF_AUTOSWITCH
feature MOTOR_STOP
feature GPS
feature LED_STRIP
feature PWM_OUTPUT_ENABLE

# beeper

# map

# serial
serial 0 2 115200 9600 0 115200

# led

# color

# mode_color

# aux
aux 0 0 0 1900 2100
aux 1 1 1 900 1075
aux 2 3 3 1400 1600
aux 3 11 2 1400 1600
aux 4 10 2 1900 2100
aux 5 28 5 1900 2100
aux 6 45 1 1900 2100
aux 7 36 3 1900 2100
aux 8 37 6 1900 2100
aux 9 21 4 1900 2100

# adjrange

# rxrange

# temp_sensor

# wp
#wp 0 invalid

# osd_layout
osd_layout 0 0 19 0 H
osd_layout 0 1 12 13 H
osd_layout 0 2 0 0 V
osd_layout 0 7 13 11 V
osd_layout 0 8 1 12 V
osd_layout 0 9 1 2 H
osd_layout 0 11 16 12 V
osd_layout 0 12 21 12 V
osd_layout 0 13 24 3 V
osd_layout 0 14 24 1 V
osd_layout 0 15 1 3 V
osd_layout 0 22 14 1 V
osd_layout 0 23 12 0 V
osd_layout 0 26 1 4 V
osd_layout 0 28 1 1 V
osd_layout 0 30 1 10 V
osd_layout 0 32 9 12 V
osd_layout 0 34 10 2 H
osd_layout 0 35 24 4 V
osd_layout 0 40 1 2 V
osd_layout 0 45 0 0 V
osd_layout 0 85 23 4 H
osd_layout 0 87 24 0 H
osd_layout 0 110 23 2 V

# master
set gyro_main_lpf_hz = 25
set dynamic_gyro_notch_enabled = ON
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set acc_hardware = MPU6000
set acczero_x = 28
set acczero_y = -10
set acczero_z = -160
set accgain_x = 4089
set accgain_y = 4066
set accgain_z = 4083
set align_mag = CW270FLIP
set mag_hardware = NONE
set magzero_x = 37
set magzero_y = -80
set magzero_z = -10
set baro_hardware = BMP280
set serialrx_provider = CRSF
set blackbox_rate_denom = 2
set max_throttle = 2000
set motor_pwm_protocol = STANDARD
set throttle_idle =  5.000
set failsafe_procedure = RTH
set failsafe_mission = OFF
set platform_type = AIRPLANE
set model_preview_type = 30
set small_angle = 180
set imu_acc_ignore_rate = 9
set imu_acc_ignore_slope = 5
set applied_defaults = 3
set gps_sbas_mode = EGNOS
set gps_ublox_use_galileo = ON
set gps_min_sats = 5
set airmode_type = STICK_CENTER_ONCE
set nav_extra_arming_safety = OFF
set nav_wp_radius = 5000
set nav_wp_safe_distance = 50000
set nav_rth_climb_first = OFF
set nav_rth_climb_ignore_emerg = ON
set nav_rth_allow_landing = NEVER
set nav_rth_alt_mode = EXTRA
set nav_rth_altitude = 5000
set nav_fw_max_thr = 2000
set nav_fw_bank_angle = 30
set nav_fw_climb_angle = 40
set nav_fw_dive_angle = 20
set nav_fw_pitch2thr = 30
set nav_fw_loiter_radius = 4000
set nav_fw_control_smoothness = 2
set nav_fw_launch_velocity = 150
set nav_fw_launch_accel = 1400
set nav_fw_launch_max_angle = 180
set nav_fw_launch_thr = 2000
set nav_fw_launch_motor_delay = 250
set nav_fw_launch_spinup_time = 300
set osd_video_system = NTSC
set osd_rssi_alarm = 0
set osd_time_alarm = 0
set osd_alt_alarm = 0
set osd_dist_alarm = 0
set osd_neg_alt_alarm = 0
set osd_imu_temp_alarm_min = 0
set osd_imu_temp_alarm_max = 0
set osd_baro_temp_alarm_min = 0
set osd_baro_temp_alarm_max = 0
set osd_crsf_lq_format = TYPE2
set osd_hud_margin_v = 1
set osd_hud_homepoint = ON
set osd_hud_radar_disp = 4
set osd_hud_radar_range_min = 1
set osd_hud_wp_disp = 2
set osd_right_sidebar_scroll = ALTITUDE
set osd_sidebar_scroll_arrows = ON
set osd_coordinate_digits = 8
set i2c_speed = 800KHZ
set name = RK
set tz_automatic_dst = EU

# profile
profile 1

set fw_p_pitch = 15
set fw_i_pitch = 10
set fw_ff_pitch = 80
set fw_p_roll = 10
set fw_i_roll = 8
set fw_ff_roll = 40
set fw_p_yaw = 20
set fw_i_yaw = 5
set fw_ff_yaw = 100
set max_angle_inclination_rll = 350
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 20
set nav_fw_pos_z_d = 5
set nav_fw_pos_xy_p = 60
set d_boost_factor =  1.000
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 18
set pitch_rate = 9
set yaw_rate = 3

# battery_profile
battery_profile 1


# end the command batch
batch end