inav_caipirinha2.cfg

# INAV/MATEKF722SE 2.6.0 Dec  4 2020 / 12:21:50 (cada68e4)
# GCC-9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599]

# 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 3 1 50 0 -1
smix 1 3 0 50 0 -1
smix 2 4 1 50 0 -1
smix 3 4 0 -50 0 -1

# servo
servo 3 800 1900 1350 -100
servo 4 1200 2350 1775 100

# safehome

# logic

# gvar

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

# beeper
beeper -BAT_CRIT_LOW
beeper -BAT_LOW

# map

# serial
serial 2 1 57600 115200 0 115200
serial 3 2 115200 115200 0 115200

# led

# color

# mode_color
mode_color 6 7 8

# 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

# 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 4 8 6 H
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_hardware_lpf = 256HZ
set gyro_lpf_hz = 40
set acc_hardware = MPU6000
set acczero_x = 96
set acczero_y = -26
set acczero_z = -235
set accgain_x = 4086
set accgain_y = 4062
set accgain_z = 4004
set align_mag = CW270FLIP
set mag_hardware = HMC5883
set magzero_x = 37
set magzero_y = -80
set magzero_z = -10
set baro_hardware = BMP280
set pitot_hardware = NONE
set rssi_channel = 12
set serialrx_provider = CRSF
set blackbox_rate_denom = 2
set max_throttle = 2000
set motor_pwm_protocol = STANDARD
set failsafe_procedure = RTH
set current_meter_scale = 250
set platform_type = AIRPLANE
set model_preview_type = 8
set small_angle = 180
set applied_defaults = 3
set gps_provider = UBLOX7
set gps_sbas_mode = EGNOS
set gps_ublox_use_galileo = ON
set gps_min_sats = 5
set nav_extra_arming_safety = OFF
set nav_wp_radius = 5000
set nav_wp_safe_distance = 50000
set nav_rth_allow_landing = NEVER
set nav_rth_alt_mode = EXTRA
set nav_rth_altitude = 5000
set nav_fw_bank_angle = 30
set nav_fw_climb_angle = 30
set nav_fw_dive_angle = 20
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 nav_fw_launch_timeout = 30000
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_left_sidebar_scroll = GROUND_SPEED
set osd_right_sidebar_scroll = ALTITUDE
set osd_sidebar_scroll_arrows = ON
set osd_coordinate_digits = 8
set name = RK

# profile
profile 2

set fw_p_pitch = 6
set fw_i_pitch = 14
set fw_ff_pitch = 64
set fw_p_roll = 4
set fw_i_roll = 9
set fw_ff_roll = 42

# battery_profile
battery_profile 1

set bat_cells = 4
set vbat_min_cell_voltage = 300
set vbat_warning_cell_voltage = 310
set battery_capacity = 9000

# end the command batch
batch end