# Diff all

# version
# INAV/MATEKH743 7.1.0 Mar 27 2024 / 14:06:40 (59a6ee61)
# GCC-10.3.1 20210824 (release)

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# Timer overrides
timer_output_mode 2 MOTORS
timer_output_mode 3 MOTORS
timer_output_mode 4 MOTORS
timer_output_mode 11 SERVOS

# Outputs [servo]
servo 1 600 2400 1500 50
servo 2 900 2050 1500 50
servo 5 600 2400 1500 50
servo 6 900 2100 1500 50

# safehome

# Fixed Wing Approach

# features
feature GPS
feature PWM_OUTPUT_ENABLE

# beeper
beeper -RUNTIME_CALIBRATION
beeper -HW_FAILURE
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 -ACTION_SUCCESS
beeper -ACTION_FAIL
beeper -READY_BEEP
beeper -MULTI_BEEPS
beeper -DISARM_REPEAT
beeper -ARMED
beeper -SYSTEM_INIT
beeper -ON_USB
beeper -LAUNCH_MODE
beeper -LAUNCH_MODE_LOW_THROTTLE
beeper -LAUNCH_MODE_IDLE_START
beeper -CAM_CONNECTION_OPEN
beeper -CAM_CONNECTION_CLOSED

# 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 2 115200 9600 0 115200
serial 1 128 115200 115200 0 57600
serial 2 2048 115200 115200 0 115200
serial 3 1 115200 115200 0 115200

# LEDs

# LED color

# LED mode_color

# Modes [aux]
aux 0 0 0 1975 2100
aux 1 1 1 900 1175
aux 2 2 1 1200 1800
aux 3 11 6 1050 1250
aux 4 10 7 1900 2100
aux 5 3 6 1250 1450
aux 6 33 6 1250 1350
aux 7 33 6 1050 1125
aux 8 52 6 1750 1850
aux 9 13 6 1650 1750
aux 10 13 6 950 1050
aux 11 26 0 1975 2100
aux 12 47 2 1375 1600

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]
osd_layout 0 0 24 1 V
osd_layout 0 1 25 2 H
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 13 15 V
osd_layout 0 9 0 2 V
osd_layout 0 10 1 15 V
osd_layout 0 11 2 3 H
osd_layout 0 12 1 6 H
osd_layout 0 14 1 1 V
osd_layout 0 15 23 8 V
osd_layout 0 26 24 7 V
osd_layout 0 28 23 15 V
osd_layout 0 30 1 14 V
osd_layout 0 32 25 4 V
osd_layout 0 53 25 2 V
osd_layout 0 54 25 3 V
osd_layout 0 120 24 9 V
osd_layout 0 143 12 13 V

# Programming: logic
logic 0 1 -1 22 0 0 0 0 0
logic 5 0 1 0 0 0 0 0 0
logic 6 0 2 0 0 0 0 0 0
logic 7 0 3 0 0 0 0 0 0
logic 8 0 4 0 0 0 0 0 0
logic 11 1 16 25 0 1 0 0 0
logic 12 1 17 25 0 2 0 0 0
logic 13 1 18 25 0 3 0 0 0
logic 14 1 19 25 0 4 0 0 0
logic 15 0 -1 25 0 5 0 0 0
logic 16 1 -1 48 4 28 0 20 0
logic 17 1 -1 48 4 27 0 20 0
logic 18 1 -1 48 4 26 0 20 0
logic 19 1 -1 48 4 29 0 20 0
logic 20 0 -1 7 0 0 0 0 0
logic 21 0 -1 7 0 0 0 0 0
logic 22 0 -1 7 0 0 0 0 0
logic 23 0 -1 7 0 0 0 0 0
logic 24 0 -1 7 0 0 0 0 0
logic 25 0 -1 7 0 0 0 0 0
logic 26 1 -1 51 1 7 0 988 0
logic 27 1 -1 51 1 7 0 1244 0
logic 28 1 -1 51 1 7 0 1750 0
logic 29 1 -1 51 1 7 0 2011 0
logic 30 0 -1 3 1 7 0 1800 0
logic 31 0 -1 2 1 7 0 0 0
logic 32 0 -1 3 1 7 0 0 0
logic 33 0 -1 2 1 7 0 2000 0

# Programming: global variables

# Programming: PID controllers

# OSD: custom elements

# master
set looptime = 125
set gyro_main_lpf_hz = 90
set gyro_main_lpf_type = PT1
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 60
set dynamic_gyro_notch_mode = 3D
set setpoint_kalman_q = 200
set gyro_zero_y = -3
set gyro_zero_z = -7
set ins_gravity_cmss =  981.632
set acc_hardware = ICM42605
set acczero_x = -4
set acczero_y = -6
set acczero_z = 7
set accgain_x = 4082
set accgain_y = 4092
set accgain_z = 4105
set rangefinder_hardware = MSP
set opflow_hardware = MSP
set align_mag = CW270FLIP
set mag_hardware = QMC5883
set magzero_x = -566
set magzero_y = -85
set magzero_z = -195
set maggain_x = 1485
set maggain_y = 1616
set maggain_z = 1608
set baro_hardware = DPS310
set blackbox_rate_denom = 32
set blackbox_device = SERIAL
set motor_pwm_protocol = DSHOT600
set motor_poles = 12
set failsafe_procedure = DROP
set align_board_roll = -2
set bat_voltage_src = SAG_COMP
set applied_defaults = 5
set rpm_gyro_filter_enabled = ON
set gps_sbas_mode = WAAS
set gps_dyn_model = AIR_1G
set gps_ublox_use_galileo = ON
set airmode_type = THROTTLE_THRESHOLD
set inav_w_z_baro_p =  0.350
set osd_units = IMPERIAL
set osd_crsf_lq_format = TYPE3
set osd_left_sidebar_scroll = ALTITUDE
set osd_right_sidebar_scroll = ALTITUDE
set osd_sidebar_scroll_arrows = ON
set osd_pan_servo_index = 2
set osd_pan_servo_pwm2centideg = -8
set osd_pan_servo_offcentre_warning = 0
set osd_pan_servo_indicator_show_degrees = ON
set osd_switch_indicators_align_left = OFF
set i2c_speed = 800KHZ
set name = SHENDRONE
set tz_offset = 480
set vtx_channel = 8
set vtx_low_power_disarm = UNTIL_FIRST_ARM
set dshot_beeper_enabled = OFF

# mixer_profile
mixer_profile 1

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 16 200 0 -1
smix 1 2 15 200 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 = 8
set mc_d_pitch = 28
set mc_cd_pitch = 0
set mc_p_roll = 38
set mc_i_roll = 7
set mc_d_roll = 28
set mc_cd_roll = 0
set mc_p_yaw = 40
set mc_i_yaw = 20
set mc_cd_yaw = 0
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 thr_expo = 10
set tpa_rate = 20
set tpa_breakpoint = 2000
set rc_expo = 80
set rc_yaw_expo = 0
set roll_rate = 60
set pitch_rate = 55
set yaw_rate = 50
set ez_filter_hz = 90

# profile
profile 2


# profile
profile 3


# battery_profile
battery_profile 1

set vbat_warning_cell_voltage = 340
set throttle_idle =  3.000

# battery_profile
battery_profile 2


# battery_profile
battery_profile 3


# restore original profile selection
mixer_profile 1
profile 1
battery_profile 1