NAV/SPEEDYBEEF405WING 7.1.2 Jun  1 2024 / 00:47:23 (4e1e59eb)
GCC-10.3.1 20210824 (release)
System Uptime: 187 seconds
Current Time: 2041-06-28T01:04:00.000+00:00
Voltage: 11.75V (3S battery - OK)
CPU Clock=168MHz, GYRO=ICM42605, ACC=ICM42605, BARO=SPL06
STM32 system clocks:
  SYSCLK = 168 MHz
  HCLK   = 168 MHz
  PCLK1  = 42 MHz
  PCLK2  = 84 MHz
Sensor status: GYRO=OK, ACC=OK, MAG=NONE, BARO=OK, RANGEFINDER=NONE, OPFLOW=NONE, GPS=OK
ESC Temperature(s): Motor Count = 1
ESC 0: 0°C, 
SD card: Manufacturer 0x9f, 30560256kB, 05/2021, v6.1, 'SD32G'
Filesystem: Ready
Stack size: 6144, Stack address: 0x10010000, Heap available: 1628
I2C Errors: 0, config size: 10467, max available config: 131072
ADC channel usage:
   BATTERY : configured = ADC 1, used = ADC 1
      RSSI : configured = ADC 4, used = none
   CURRENT : configured = ADC 2, used = ADC 2
  AIRSPEED : configured = ADC 3, used = none
System load: 11, cycle time: 1005, PID rate: 995, RX rate: 90, System rate: 9
Arming disabled flags: NAV CLI
OSD: MAX7456 [30 x 16]
VTX: band: A, chan: 1, power: 3 (200 mW), freq: 5865 MHz
GPS: HW Version: UBLOX8 Proto: 18.00 Baud: 115200
  GNSS Capabilities:
    GNSS Provider active/default
    GPS 1/1
    Galileo 0/0
    BeiDou 0/0
    Glonass 0/1
    Max concurrent: 3

------------------------

# version
# INAV/SPEEDYBEEF405WING 7.1.2 Jun  1 2024 / 00:47:23 (4e1e59eb)
# GCC-10.3.1 20210824 (release)

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# Timer overrides

# Outputs [servo]
servo 1 1000 2000 1500 -100
servo 2 1000 2000 1500 -100

# safehome

# Fixed Wing Approach

# features
feature -TX_PROF_SEL
feature MOTOR_STOP
feature GPS
feature LED_STRIP
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
map TAER

# Ports
serial 1 262144 115200 115200 0 115200
serial 3 16 115200 115200 9600 115200
serial 4 4096 115200 115200 0 115200

# LEDs
led 0 5,5::A:0
led 1 6,5::A:0
led 2 7,5::L:0
led 3 8,5::G:0

# LED color

# LED mode_color

# Modes [aux]
aux 0 0 0 900 1675
aux 1 2 1 900 1300
aux 2 11 3 1275 1675
aux 3 10 2 925 1275
aux 4 28 3 900 1275
aux 5 53 2 1275 1675
aux 6 12 1 1700 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]
osd_layout 0 0 26 4 V
osd_layout 0 1 1 4 V
osd_layout 0 2 0 0 V
osd_layout 0 3 8 6 V
osd_layout 0 4 8 6 V
osd_layout 0 7 12 2 V
osd_layout 0 8 20 0 V
osd_layout 0 9 23 6 H
osd_layout 0 10 23 12 H
osd_layout 0 11 2 5 V
osd_layout 0 12 24 7 H
osd_layout 0 13 13 11 V
osd_layout 0 14 1 3 V
osd_layout 0 15 12 12 V
osd_layout 0 20 3 15 V
osd_layout 0 21 18 15 V
osd_layout 0 22 3 12 V
osd_layout 0 23 2 13 V
osd_layout 0 24 12 4 V
osd_layout 0 25 6 6 V
osd_layout 0 26 13 13 V
osd_layout 0 28 12 0 V
osd_layout 0 29 1 0 V
osd_layout 0 30 0 1 V
osd_layout 0 31 25 3 V
osd_layout 0 33 0 8 V
osd_layout 0 34 11 10 H
osd_layout 0 40 24 11 V
osd_layout 0 41 25 7 V
osd_layout 0 42 25 8 V
osd_layout 0 86 0 4 H
osd_layout 0 96 24 12 V
osd_layout 0 97 9 15 H
osd_layout 0 105 26 3 H
osd_layout 0 106 1 7 V
osd_layout 0 107 1 9 V
osd_layout 0 109 24 12 H
osd_layout 0 110 24 11 H
osd_layout 0 111 25 9 H
osd_layout 0 112 25 10 H
osd_layout 1 11 1 3 H
osd_layout 1 109 24 12 H
osd_layout 1 110 24 11 H
osd_layout 1 111 25 9 H
osd_layout 1 112 25 10 H
osd_layout 2 11 1 3 H
osd_layout 2 109 24 12 H
osd_layout 2 110 24 11 H
osd_layout 2 111 25 9 H
osd_layout 2 112 25 10 H
osd_layout 3 11 1 3 H
osd_layout 3 109 24 12 H
osd_layout 3 110 24 11 H
osd_layout 3 111 25 9 H
osd_layout 3 112 25 10 H

# Programming: logic

# Programming: global variables

# Programming: PID controllers

# OSD: custom elements

# master
set gyro_main_lpf_hz = 25
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set gyro_zero_x = 1
set gyro_zero_y = -14
set gyro_zero_z = 10
set ins_gravity_cmss =  984.073
set acc_hardware = ICM42605
set acczero_x = -5
set acczero_y = -4
set acczero_z = 46
set accgain_x = 4092
set accgain_y = 4101
set accgain_z = 4090
set align_mag = CW0
set mag_hardware = NONE
set baro_hardware = SPL06
set min_check = 1200
set serialrx_provider = SRXL2
set max_throttle = 1950
set motor_pwm_rate = 500
set motor_pwm_protocol = DSHOT150
set failsafe_delay = 20
set failsafe_procedure = RTH
set align_board_roll = 20
set small_angle = 180
set applied_defaults = 1
set airmode_type = STICK_CENTER_ONCE
set inav_w_z_baro_p =  0.350
set nav_wp_radius = 5000
set nav_wp_max_safe_distance = 500
set nav_rth_allow_landing = NEVER
set nav_rth_altitude = 6000
set nav_fw_control_smoothness = 2
set nav_fw_launch_motor_delay = 100
set nav_fw_launch_max_altitude = 5000
set nav_fw_launch_climb_angle = 25
set osd_alt_alarm = 250
set osd_crosshairs_style = AIRCRAFT
set name = BETA-INAV
set vtx_power = 4

# mixer_profile
mixer_profile 1

set platform_type = AIRPLANE
set model_preview_type = 14
set motorstop_on_low = ON

# Mixer: motor mixer

mmix reset

mmix 0  1.000  0.000  0.000  0.000

# Mixer: servo mixer
smix reset

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

# mixer_profile
mixer_profile 2


# Mixer: motor mixer

# Mixer: servo mixer

# profile
profile 1

set fw_p_pitch = 12
set fw_i_pitch = 6
set fw_d_pitch = 5
set fw_ff_pitch = 61
set fw_p_roll = 12
set fw_i_roll = 6
set fw_d_roll = 7
set fw_ff_roll = 60
set fw_p_yaw = 15
set fw_i_yaw = 4
set fw_d_yaw = 20
set fw_ff_yaw = 63
set max_angle_inclination_rll = 450
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 15
set nav_fw_pos_z_d = 5
set nav_fw_pos_xy_p = 60
set d_boost_min =  1.000
set d_boost_max =  1.000
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 15
set pitch_rate = 10
set yaw_rate = 10

# profile
profile 2

set dterm_lpf_hz = 10

# profile
profile 3


# battery_profile
battery_profile 1

set bat_cells = 3
set battery_capacity = 2200
set throttle_idle =  5.000
set nav_fw_cruise_thr = 1480

# battery_profile
battery_profile 2


# battery_profile
battery_profile 3


# restore original profile selection
mixer_profile 1
profile 1
battery_profile 1

# save configuration
save

#