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iNavFlight / inav

INAV: Navigation-enabled flight control software
https://inavflight.github.io
GNU General Public License v3.0
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Issue with Barometer DPS310 Activation on SpeedyBee F7 V3 Stack #10015

Closed borattoo closed 6 months ago

borattoo commented 6 months ago

Current Behavior

When activating the GEPRC M1025-DQ GPS, DPS310 barometer on my SpeedyBee F7 V3 stack with iNav 7.1.1, a red icon appears next to the barometer status and the ESC continuously beeps the motors, preventing me from completing the configuration of my quad.

Steps to Reproduce

  1. Flash iNav 7.1.1 on SpeedyBee F7 V3 stack.
  2. Install Geprc M1025-DQ GPS,
  3. Activate GPS and magnetometer successfully.
  4. Enable DPS310 barometer.
  5. Observe the error behavior with red icon and beeping motors.

Expected behavior

I expected the barometer to activate without causing any errors or abnormal ESC behavior, allowing for complete configuration of the quad.

Suggested solution(s)

I am unsure of the specific cause of the issue, so any guidance on troubleshooting or settings adjustments that might resolve the conflict between the barometer and other components would be helpful.

Additional context

IMG_0377 inav1

Entering CLI Mode, type 'exit' to return, or 'help'

dump

version

INAV/SPEEDYBEEF7V3 7.1.1 May 6 2024 / 12:53:44 (dd91a871)

GCC-10.3.1 20210824 (release)

start the command batch

batch start

resources

Timer overrides

timer_output_mode 0 AUTO timer_output_mode 1 MOTORS timer_output_mode 2 MOTORS timer_output_mode 3 MOTORS timer_output_mode 4 AUTO timer_output_mode 5 AUTO timer_output_mode 6 AUTO timer_output_mode 7 AUTO timer_output_mode 8 AUTO timer_output_mode 9 AUTO timer_output_mode 10 AUTO timer_output_mode 11 AUTO timer_output_mode 12 AUTO timer_output_mode 13 AUTO

Outputs [servo]

servo 0 1000 2000 1500 100 servo 1 1000 2000 1500 100 servo 2 1000 2000 1500 100 servo 3 1000 2000 1500 100 servo 4 1000 2000 1500 100 servo 5 1000 2000 1500 100 servo 6 1000 2000 1500 100 servo 7 1000 2000 1500 100 servo 8 1000 2000 1500 100 servo 9 1000 2000 1500 100 servo 10 1000 2000 1500 100 servo 11 1000 2000 1500 100 servo 12 1000 2000 1500 100 servo 13 1000 2000 1500 100 servo 14 1000 2000 1500 100 servo 15 1000 2000 1500 100

safehome

safehome 0 0 0 0 safehome 1 0 0 0 safehome 2 0 0 0 safehome 3 0 0 0 safehome 4 0 0 0 safehome 5 0 0 0 safehome 6 0 0 0 safehome 7 0 0 0

Fixed Wing Approach

fwapproach 0 0 0 0 0 0 0 fwapproach 1 0 0 0 0 0 0 fwapproach 2 0 0 0 0 0 0 fwapproach 3 0 0 0 0 0 0 fwapproach 4 0 0 0 0 0 0 fwapproach 5 0 0 0 0 0 0 fwapproach 6 0 0 0 0 0 0 fwapproach 7 0 0 0 0 0 0 fwapproach 8 0 0 0 0 0 0 fwapproach 9 0 0 0 0 0 0 fwapproach 10 0 0 0 0 0 0 fwapproach 11 0 0 0 0 0 0 fwapproach 12 0 0 0 0 0 0 fwapproach 13 0 0 0 0 0 0 fwapproach 14 0 0 0 0 0 0 fwapproach 15 0 0 0 0 0 0 fwapproach 16 0 0 0 0 0 0

features

feature -THR_VBAT_COMP feature -VBAT feature -TX_PROF_SEL feature -BAT_PROF_AUTOSWITCH feature -MOTOR_STOP feature -SOFTSERIAL feature -GPS feature -RPM_FILTERS feature -TELEMETRY feature -CURRENT_METER feature -REVERSIBLE_MOTORS feature -RSSI_ADC feature -LED_STRIP feature -DASHBOARD feature -BLACKBOX feature -TRANSPONDER feature -AIRMODE feature -SUPEREXPO feature -VTX feature -PWM_OUTPUT_ENABLE feature -OSD feature -FW_LAUNCH feature -FW_AUTOTRIM feature VBAT feature TX_PROF_SEL feature GPS feature TELEMETRY feature CURRENT_METER feature BLACKBOX feature AIRMODE feature PWM_OUTPUT_ENABLE feature OSD

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

map AETR

Ports

serial 20 1 115200 115200 0 115200 serial 0 33554432 115200 115200 0 115200 serial 1 64 115200 115200 0 115200 serial 2 0 115200 115200 0 115200 serial 3 262144 115200 115200 0 115200 serial 5 2 115200 115200 0 115200

LEDs

led 0 0,0::C:0 led 1 0,0::C:0 led 2 0,0::C:0 led 3 0,0::C:0 led 4 0,0::C:0 led 5 0,0::C:0 led 6 0,0::C:0 led 7 0,0::C:0 led 8 0,0::C:0 led 9 0,0::C:0 led 10 0,0::C:0 led 11 0,0::C:0 led 12 0,0::C:0 led 13 0,0::C:0 led 14 0,0::C:0 led 15 0,0::C:0 led 16 0,0::C:0 led 17 0,0::C:0 led 18 0,0::C:0 led 19 0,0::C:0 led 20 0,0::C:0 led 21 0,0::C:0 led 22 0,0::C:0 led 23 0,0::C:0 led 24 0,0::C:0 led 25 0,0::C:0 led 26 0,0::C:0 led 27 0,0::C:0 led 28 0,0::C:0 led 29 0,0::C:0 led 30 0,0::C:0 led 31 0,0::C:0 led 32 0,0::C:0 led 33 0,0::C:0 led 34 0,0::C:0 led 35 0,0::C:0 led 36 0,0::C:0 led 37 0,0::C:0 led 38 0,0::C:0 led 39 0,0::C:0 led 40 0,0::C:0 led 41 0,0::C:0 led 42 0,0::C:0 led 43 0,0::C:0 led 44 0,0::C:0 led 45 0,0::C:0 led 46 0,0::C:0 led 47 0,0::C:0 led 48 0,0::C:0 led 49 0,0::C:0 led 50 0,0::C:0 led 51 0,0::C:0 led 52 0,0::C:0 led 53 0,0::C:0 led 54 0,0::C:0 led 55 0,0::C:0 led 56 0,0::C:0 led 57 0,0::C:0 led 58 0,0::C:0 led 59 0,0::C:0 led 60 0,0::C:0 led 61 0,0::C:0 led 62 0,0::C:0 led 63 0,0::C:0 led 64 0,0::C:0 led 65 0,0::C:0 led 66 0,0::C:0 led 67 0,0::C:0 led 68 0,0::C:0 led 69 0,0::C:0 led 70 0,0::C:0 led 71 0,0::C:0 led 72 0,0::C:0 led 73 0,0::C:0 led 74 0,0::C:0 led 75 0,0::C:0 led 76 0,0::C:0 led 77 0,0::C:0 led 78 0,0::C:0 led 79 0,0::C:0 led 80 0,0::C:0 led 81 0,0::C:0 led 82 0,0::C:0 led 83 0,0::C:0 led 84 0,0::C:0 led 85 0,0::C:0 led 86 0,0::C:0 led 87 0,0::C:0 led 88 0,0::C:0 led 89 0,0::C:0 led 90 0,0::C:0 led 91 0,0::C:0 led 92 0,0::C:0 led 93 0,0::C:0 led 94 0,0::C:0 led 95 0,0::C:0 led 96 0,0::C:0 led 97 0,0::C:0 led 98 0,0::C:0 led 99 0,0::C:0 led 100 0,0::C:0 led 101 0,0::C:0 led 102 0,0::C:0 led 103 0,0::C:0 led 104 0,0::C:0 led 105 0,0::C:0 led 106 0,0::C:0 led 107 0,0::C:0 led 108 0,0::C:0 led 109 0,0::C:0 led 110 0,0::C:0 led 111 0,0::C:0 led 112 0,0::C:0 led 113 0,0::C:0 led 114 0,0::C:0 led 115 0,0::C:0 led 116 0,0::C:0 led 117 0,0::C:0 led 118 0,0::C:0 led 119 0,0::C:0 led 120 0,0::C:0 led 121 0,0::C:0 led 122 0,0::C:0 led 123 0,0::C:0 led 124 0,0::C:0 led 125 0,0::C:0 led 126 0,0::C:0 led 127 0,0::C:0

LED color

color 0 0,0,0 color 1 0,255,255 color 2 0,0,255 color 3 30,0,255 color 4 60,0,255 color 5 90,0,255 color 6 120,0,255 color 7 150,0,255 color 8 180,0,255 color 9 210,0,255 color 10 240,0,255 color 11 270,0,255 color 12 300,0,255 color 13 330,0,255 color 14 0,0,0 color 15 0,0,0

LED mode_color

mode_color 0 0 1 mode_color 0 1 11 mode_color 0 2 2 mode_color 0 3 13 mode_color 0 4 10 mode_color 0 5 3 mode_color 1 0 5 mode_color 1 1 11 mode_color 1 2 3 mode_color 1 3 13 mode_color 1 4 10 mode_color 1 5 3 mode_color 2 0 10 mode_color 2 1 11 mode_color 2 2 4 mode_color 2 3 13 mode_color 2 4 10 mode_color 2 5 3 mode_color 3 0 8 mode_color 3 1 11 mode_color 3 2 4 mode_color 3 3 13 mode_color 3 4 10 mode_color 3 5 3 mode_color 4 0 7 mode_color 4 1 11 mode_color 4 2 3 mode_color 4 3 13 mode_color 4 4 10 mode_color 4 5 3 mode_color 5 0 9 mode_color 5 1 11 mode_color 5 2 2 mode_color 5 3 13 mode_color 5 4 10 mode_color 5 5 3 mode_color 6 0 6 mode_color 6 1 10 mode_color 6 2 1 mode_color 6 3 0 mode_color 6 4 0 mode_color 6 5 2 mode_color 6 6 3 mode_color 6 7 6 mode_color 6 8 1

Modes [aux]

aux 0 0 0 900 900 aux 1 0 0 900 900 aux 2 0 0 900 900 aux 3 0 0 900 900 aux 4 0 0 900 900 aux 5 0 0 900 900 aux 6 0 0 900 900 aux 7 0 0 900 900 aux 8 0 0 900 900 aux 9 0 0 900 900 aux 10 0 0 900 900 aux 11 0 0 900 900 aux 12 0 0 900 900 aux 13 0 0 900 900 aux 14 0 0 900 900 aux 15 0 0 900 900 aux 16 0 0 900 900 aux 17 0 0 900 900 aux 18 0 0 900 900 aux 19 0 0 900 900 aux 20 0 0 900 900 aux 21 0 0 900 900 aux 22 0 0 900 900 aux 23 0 0 900 900 aux 24 0 0 900 900 aux 25 0 0 900 900 aux 26 0 0 900 900 aux 27 0 0 900 900 aux 28 0 0 900 900 aux 29 0 0 900 900 aux 30 0 0 900 900 aux 31 0 0 900 900 aux 32 0 0 900 900 aux 33 0 0 900 900 aux 34 0 0 900 900 aux 35 0 0 900 900 aux 36 0 0 900 900 aux 37 0 0 900 900 aux 38 0 0 900 900 aux 39 0 0 900 900

Adjustments [adjrange]

adjrange 0 0 0 900 900 0 0 adjrange 1 0 0 900 900 0 0 adjrange 2 0 0 900 900 0 0 adjrange 3 0 0 900 900 0 0 adjrange 4 0 0 900 900 0 0 adjrange 5 0 0 900 900 0 0 adjrange 6 0 0 900 900 0 0 adjrange 7 0 0 900 900 0 0 adjrange 8 0 0 900 900 0 0 adjrange 9 0 0 900 900 0 0 adjrange 10 0 0 900 900 0 0 adjrange 11 0 0 900 900 0 0 adjrange 12 0 0 900 900 0 0 adjrange 13 0 0 900 900 0 0 adjrange 14 0 0 900 900 0 0 adjrange 15 0 0 900 900 0 0 adjrange 16 0 0 900 900 0 0 adjrange 17 0 0 900 900 0 0 adjrange 18 0 0 900 900 0 0 adjrange 19 0 0 900 900 0 0

Receiver rxrange

rxrange 0 1000 2000 rxrange 1 1000 2000 rxrange 2 1000 2000 rxrange 3 1000 2000

temp_sensor

temp_sensor 0 0 0 0 0 0 temp_sensor 1 0 0 0 0 0 temp_sensor 2 0 0 0 0 0 temp_sensor 3 0 0 0 0 0 temp_sensor 4 0 0 0 0 0 temp_sensor 5 0 0 0 0 0 temp_sensor 6 0 0 0 0 0 temp_sensor 7 0 0 0 0 0

Mission Control Waypoints [wp]

wp 0 invalid

wp 0 0 0 0 0 0 0 0 0 wp 1 0 0 0 0 0 0 0 0 wp 2 0 0 0 0 0 0 0 0 wp 3 0 0 0 0 0 0 0 0 wp 4 0 0 0 0 0 0 0 0 wp 5 0 0 0 0 0 0 0 0 wp 6 0 0 0 0 0 0 0 0 wp 7 0 0 0 0 0 0 0 0 wp 8 0 0 0 0 0 0 0 0 wp 9 0 0 0 0 0 0 0 0 wp 10 0 0 0 0 0 0 0 0 wp 11 0 0 0 0 0 0 0 0 wp 12 0 0 0 0 0 0 0 0 wp 13 0 0 0 0 0 0 0 0 wp 14 0 0 0 0 0 0 0 0 wp 15 0 0 0 0 0 0 0 0 wp 16 0 0 0 0 0 0 0 0 wp 17 0 0 0 0 0 0 0 0 wp 18 0 0 0 0 0 0 0 0 wp 19 0 0 0 0 0 0 0 0 wp 20 0 0 0 0 0 0 0 0 wp 21 0 0 0 0 0 0 0 0 wp 22 0 0 0 0 0 0 0 0 wp 23 0 0 0 0 0 0 0 0 wp 24 0 0 0 0 0 0 0 0 wp 25 0 0 0 0 0 0 0 0 wp 26 0 0 0 0 0 0 0 0 wp 27 0 0 0 0 0 0 0 0 wp 28 0 0 0 0 0 0 0 0 wp 29 0 0 0 0 0 0 0 0 wp 30 0 0 0 0 0 0 0 0 wp 31 0 0 0 0 0 0 0 0 wp 32 0 0 0 0 0 0 0 0 wp 33 0 0 0 0 0 0 0 0 wp 34 0 0 0 0 0 0 0 0 wp 35 0 0 0 0 0 0 0 0 wp 36 0 0 0 0 0 0 0 0 wp 37 0 0 0 0 0 0 0 0 wp 38 0 0 0 0 0 0 0 0 wp 39 0 0 0 0 0 0 0 0 wp 40 0 0 0 0 0 0 0 0 wp 41 0 0 0 0 0 0 0 0 wp 42 0 0 0 0 0 0 0 0 wp 43 0 0 0 0 0 0 0 0 wp 44 0 0 0 0 0 0 0 0 wp 45 0 0 0 0 0 0 0 0 wp 46 0 0 0 0 0 0 0 0 wp 47 0 0 0 0 0 0 0 0 wp 48 0 0 0 0 0 0 0 0 wp 49 0 0 0 0 0 0 0 0 wp 50 0 0 0 0 0 0 0 0 wp 51 0 0 0 0 0 0 0 0 wp 52 0 0 0 0 0 0 0 0 wp 53 0 0 0 0 0 0 0 0 wp 54 0 0 0 0 0 0 0 0 wp 55 0 0 0 0 0 0 0 0 wp 56 0 0 0 0 0 0 0 0 wp 57 0 0 0 0 0 0 0 0 wp 58 0 0 0 0 0 0 0 0 wp 59 0 0 0 0 0 0 0 0 wp 60 0 0 0 0 0 0 0 0 wp 61 0 0 0 0 0 0 0 0 wp 62 0 0 0 0 0 0 0 0 wp 63 0 0 0 0 0 0 0 0 wp 64 0 0 0 0 0 0 0 0 wp 65 0 0 0 0 0 0 0 0 wp 66 0 0 0 0 0 0 0 0 wp 67 0 0 0 0 0 0 0 0 wp 68 0 0 0 0 0 0 0 0 wp 69 0 0 0 0 0 0 0 0 wp 70 0 0 0 0 0 0 0 0 wp 71 0 0 0 0 0 0 0 0 wp 72 0 0 0 0 0 0 0 0 wp 73 0 0 0 0 0 0 0 0 wp 74 0 0 0 0 0 0 0 0 wp 75 0 0 0 0 0 0 0 0 wp 76 0 0 0 0 0 0 0 0 wp 77 0 0 0 0 0 0 0 0 wp 78 0 0 0 0 0 0 0 0 wp 79 0 0 0 0 0 0 0 0 wp 80 0 0 0 0 0 0 0 0 wp 81 0 0 0 0 0 0 0 0 wp 82 0 0 0 0 0 0 0 0 wp 83 0 0 0 0 0 0 0 0 wp 84 0 0 0 0 0 0 0 0 wp 85 0 0 0 0 0 0 0 0 wp 86 0 0 0 0 0 0 0 0 wp 87 0 0 0 0 0 0 0 0 wp 88 0 0 0 0 0 0 0 0 wp 89 0 0 0 0 0 0 0 0 wp 90 0 0 0 0 0 0 0 0 wp 91 0 0 0 0 0 0 0 0 wp 92 0 0 0 0 0 0 0 0 wp 93 0 0 0 0 0 0 0 0 wp 94 0 0 0 0 0 0 0 0 wp 95 0 0 0 0 0 0 0 0 wp 96 0 0 0 0 0 0 0 0 wp 97 0 0 0 0 0 0 0 0 wp 98 0 0 0 0 0 0 0 0 wp 99 0 0 0 0 0 0 0 0 wp 100 0 0 0 0 0 0 0 0 wp 101 0 0 0 0 0 0 0 0 wp 102 0 0 0 0 0 0 0 0 wp 103 0 0 0 0 0 0 0 0 wp 104 0 0 0 0 0 0 0 0 wp 105 0 0 0 0 0 0 0 0 wp 106 0 0 0 0 0 0 0 0 wp 107 0 0 0 0 0 0 0 0 wp 108 0 0 0 0 0 0 0 0 wp 109 0 0 0 0 0 0 0 0 wp 110 0 0 0 0 0 0 0 0 wp 111 0 0 0 0 0 0 0 0 wp 112 0 0 0 0 0 0 0 0 wp 113 0 0 0 0 0 0 0 0 wp 114 0 0 0 0 0 0 0 0 wp 115 0 0 0 0 0 0 0 0 wp 116 0 0 0 0 0 0 0 0 wp 117 0 0 0 0 0 0 0 0 wp 118 0 0 0 0 0 0 0 0 wp 119 0 0 0 0 0 0 0 0

OSD [osd_layout]

osd_layout 0 0 23 0 V osd_layout 0 1 12 0 V osd_layout 0 2 0 0 H osd_layout 0 3 8 6 H osd_layout 0 4 8 6 H osd_layout 0 5 23 8 H osd_layout 0 6 23 9 H osd_layout 0 7 13 12 V osd_layout 0 8 20 2 H osd_layout 0 9 1 2 V osd_layout 0 10 8 6 H osd_layout 0 11 2 3 V osd_layout 0 12 1 4 V osd_layout 0 13 23 1 H osd_layout 0 14 0 11 V osd_layout 0 15 1 0 V osd_layout 0 16 2 10 H osd_layout 0 17 2 11 H osd_layout 0 18 2 12 H osd_layout 0 19 15 1 H osd_layout 0 20 18 12 H osd_layout 0 21 0 12 H osd_layout 0 22 14 11 H osd_layout 0 23 1 1 H osd_layout 0 24 12 2 H osd_layout 0 25 23 5 H osd_layout 0 26 24 7 H osd_layout 0 27 3 5 H osd_layout 0 28 23 11 V osd_layout 0 29 23 12 H osd_layout 0 30 1 13 V osd_layout 0 31 0 10 H osd_layout 0 32 12 1 H osd_layout 0 33 6 2 H osd_layout 0 34 18 2 H osd_layout 0 35 1 5 H osd_layout 0 36 1 5 H osd_layout 0 37 1 6 H osd_layout 0 38 1 7 H osd_layout 0 39 1 5 H osd_layout 0 40 1 2 H osd_layout 0 41 1 8 H osd_layout 0 42 1 7 H osd_layout 0 43 0 0 H osd_layout 0 44 0 0 H osd_layout 0 45 0 0 H osd_layout 0 46 3 6 H osd_layout 0 47 3 7 H osd_layout 0 48 23 7 H osd_layout 0 49 23 6 H osd_layout 0 50 0 0 H osd_layout 0 51 12 2 H osd_layout 0 52 12 2 H osd_layout 0 53 12 1 H osd_layout 0 54 12 1 H osd_layout 0 55 1 8 H osd_layout 0 56 2 12 H osd_layout 0 57 2 12 H osd_layout 0 58 2 12 H osd_layout 0 59 2 12 H osd_layout 0 60 2 12 H osd_layout 0 61 2 12 H osd_layout 0 62 2 10 H osd_layout 0 63 2 11 H osd_layout 0 64 2 12 H osd_layout 0 65 2 12 H osd_layout 0 66 2 12 H osd_layout 0 67 2 12 H osd_layout 0 68 2 12 H osd_layout 0 69 2 12 H osd_layout 0 70 2 12 H osd_layout 0 71 2 12 H osd_layout 0 72 2 12 H osd_layout 0 73 2 12 H osd_layout 0 74 2 12 H osd_layout 0 75 2 12 H osd_layout 0 76 2 12 H osd_layout 0 77 2 12 H osd_layout 0 78 0 0 H osd_layout 0 79 2 12 H osd_layout 0 80 2 12 H osd_layout 0 81 2 12 H osd_layout 0 82 2 12 H osd_layout 0 83 2 12 H osd_layout 0 84 2 12 H osd_layout 0 85 23 1 H osd_layout 0 86 19 2 H osd_layout 0 87 19 3 H osd_layout 0 88 19 4 H osd_layout 0 89 19 5 H osd_layout 0 90 19 6 H osd_layout 0 91 19 7 H osd_layout 0 92 19 8 H osd_layout 0 93 19 9 H osd_layout 0 94 19 10 H osd_layout 0 95 19 11 H osd_layout 0 96 0 0 H osd_layout 0 97 0 12 H osd_layout 0 98 0 0 H osd_layout 0 99 0 0 H osd_layout 0 100 12 4 H osd_layout 0 101 12 5 H osd_layout 0 102 12 6 H osd_layout 0 103 12 7 H osd_layout 0 104 0 0 H osd_layout 0 105 3 5 H osd_layout 0 106 1 2 H osd_layout 0 107 1 3 H osd_layout 0 108 2 12 H osd_layout 0 109 23 12 H osd_layout 0 110 23 11 H osd_layout 0 111 24 9 H osd_layout 0 112 24 10 H osd_layout 0 113 1 1 H osd_layout 0 114 1 2 H osd_layout 0 115 1 3 H osd_layout 0 116 1 4 H osd_layout 0 117 0 0 H osd_layout 0 118 0 0 H osd_layout 0 119 0 0 H osd_layout 0 120 0 0 H osd_layout 0 121 3 4 H osd_layout 0 122 3 5 H osd_layout 0 123 3 6 H osd_layout 0 124 23 2 H osd_layout 0 125 0 0 H osd_layout 0 126 0 0 H osd_layout 0 127 0 0 H osd_layout 0 128 0 0 H osd_layout 0 129 0 10 H osd_layout 0 130 2 7 H osd_layout 0 131 2 8 H osd_layout 0 132 2 9 H osd_layout 0 133 2 10 H osd_layout 0 134 0 0 H osd_layout 0 135 0 0 H osd_layout 0 136 0 0 H osd_layout 0 137 0 0 H osd_layout 0 138 0 0 H osd_layout 0 139 0 0 H osd_layout 0 140 12 3 H osd_layout 0 141 12 3 H osd_layout 0 142 20 3 H osd_layout 0 143 0 0 H osd_layout 0 144 1 4 H osd_layout 0 145 1 3 H osd_layout 0 146 20 3 H osd_layout 0 147 0 0 H osd_layout 0 148 0 0 H osd_layout 0 149 0 0 H osd_layout 1 0 23 0 H osd_layout 1 1 12 0 H osd_layout 1 2 0 0 H osd_layout 1 3 8 6 H osd_layout 1 4 8 6 H osd_layout 1 5 23 8 H osd_layout 1 6 23 9 H osd_layout 1 7 13 12 H osd_layout 1 8 20 2 H osd_layout 1 9 1 2 H osd_layout 1 10 8 6 H osd_layout 1 11 2 3 H osd_layout 1 12 1 4 H osd_layout 1 13 23 1 H osd_layout 1 14 0 11 H osd_layout 1 15 1 0 H osd_layout 1 16 2 10 H osd_layout 1 17 2 11 H osd_layout 1 18 2 12 H osd_layout 1 19 15 1 H osd_layout 1 20 18 12 H osd_layout 1 21 0 12 H osd_layout 1 22 14 11 H osd_layout 1 23 1 1 H osd_layout 1 24 12 2 H osd_layout 1 25 23 5 H osd_layout 1 26 24 7 H osd_layout 1 27 3 5 H osd_layout 1 28 23 11 H osd_layout 1 29 23 12 H osd_layout 1 30 1 13 H osd_layout 1 31 0 10 H osd_layout 1 32 12 1 H osd_layout 1 33 6 2 H osd_layout 1 34 18 2 H osd_layout 1 35 1 5 H osd_layout 1 36 1 5 H osd_layout 1 37 1 6 H osd_layout 1 38 1 7 H osd_layout 1 39 1 5 H osd_layout 1 40 1 2 H osd_layout 1 41 1 8 H osd_layout 1 42 1 7 H osd_layout 1 43 0 0 H osd_layout 1 44 0 0 H osd_layout 1 45 0 0 H osd_layout 1 46 3 6 H osd_layout 1 47 3 7 H osd_layout 1 48 23 7 H osd_layout 1 49 23 6 H osd_layout 1 50 0 0 H osd_layout 1 51 12 2 H osd_layout 1 52 12 2 H osd_layout 1 53 12 1 H osd_layout 1 54 12 1 H osd_layout 1 55 1 8 H osd_layout 1 56 2 12 H osd_layout 1 57 2 12 H osd_layout 1 58 2 12 H osd_layout 1 59 2 12 H osd_layout 1 60 2 12 H osd_layout 1 61 2 12 H osd_layout 1 62 2 10 H osd_layout 1 63 2 11 H osd_layout 1 64 2 12 H osd_layout 1 65 2 12 H osd_layout 1 66 2 12 H osd_layout 1 67 2 12 H osd_layout 1 68 2 12 H osd_layout 1 69 2 12 H osd_layout 1 70 2 12 H osd_layout 1 71 2 12 H osd_layout 1 72 2 12 H osd_layout 1 73 2 12 H osd_layout 1 74 2 12 H osd_layout 1 75 2 12 H osd_layout 1 76 2 12 H osd_layout 1 77 2 12 H osd_layout 1 78 0 0 H osd_layout 1 79 2 12 H osd_layout 1 80 2 12 H osd_layout 1 81 2 12 H osd_layout 1 82 2 12 H osd_layout 1 83 2 12 H osd_layout 1 84 2 12 H osd_layout 1 85 23 1 H osd_layout 1 86 19 2 H osd_layout 1 87 19 3 H osd_layout 1 88 19 4 H osd_layout 1 89 19 5 H osd_layout 1 90 19 6 H osd_layout 1 91 19 7 H osd_layout 1 92 19 8 H osd_layout 1 93 19 9 H osd_layout 1 94 19 10 H osd_layout 1 95 19 11 H osd_layout 1 96 0 0 H osd_layout 1 97 0 12 H osd_layout 1 98 0 0 H osd_layout 1 99 0 0 H osd_layout 1 100 12 4 H osd_layout 1 101 12 5 H osd_layout 1 102 12 6 H osd_layout 1 103 12 7 H osd_layout 1 104 0 0 H osd_layout 1 105 3 5 H osd_layout 1 106 1 2 H osd_layout 1 107 1 3 H osd_layout 1 108 2 12 H osd_layout 1 109 23 12 H osd_layout 1 110 23 11 H osd_layout 1 111 24 9 H osd_layout 1 112 24 10 H osd_layout 1 113 1 1 H osd_layout 1 114 1 2 H osd_layout 1 115 1 3 H osd_layout 1 116 1 4 H osd_layout 1 117 0 0 H osd_layout 1 118 0 0 H osd_layout 1 119 0 0 H osd_layout 1 120 0 0 H osd_layout 1 121 3 4 H osd_layout 1 122 3 5 H osd_layout 1 123 3 6 H osd_layout 1 124 23 2 H osd_layout 1 125 0 0 H osd_layout 1 126 0 0 H osd_layout 1 127 0 0 H osd_layout 1 128 0 0 H osd_layout 1 129 0 10 H osd_layout 1 130 2 7 H osd_layout 1 131 2 8 H osd_layout 1 132 2 9 H osd_layout 1 133 2 10 H osd_layout 1 134 0 0 H osd_layout 1 135 0 0 H osd_layout 1 136 0 0 H osd_layout 1 137 0 0 H osd_layout 1 138 0 0 H osd_layout 1 139 0 0 H osd_layout 1 140 12 3 H osd_layout 1 141 12 3 H osd_layout 1 142 20 3 H osd_layout 1 143 0 0 H osd_layout 1 144 1 4 H osd_layout 1 145 1 3 H osd_layout 1 146 20 3 H osd_layout 1 147 0 0 H osd_layout 1 148 0 0 H osd_layout 1 149 0 0 H osd_layout 2 0 23 0 H osd_layout 2 1 12 0 H osd_layout 2 2 0 0 H osd_layout 2 3 8 6 H osd_layout 2 4 8 6 H osd_layout 2 5 23 8 H osd_layout 2 6 23 9 H osd_layout 2 7 13 12 H osd_layout 2 8 20 2 H osd_layout 2 9 1 2 H osd_layout 2 10 8 6 H osd_layout 2 11 2 3 H osd_layout 2 12 1 4 H osd_layout 2 13 23 1 H osd_layout 2 14 0 11 H osd_layout 2 15 1 0 H osd_layout 2 16 2 10 H osd_layout 2 17 2 11 H osd_layout 2 18 2 12 H osd_layout 2 19 15 1 H osd_layout 2 20 18 12 H osd_layout 2 21 0 12 H osd_layout 2 22 14 11 H osd_layout 2 23 1 1 H osd_layout 2 24 12 2 H osd_layout 2 25 23 5 H osd_layout 2 26 24 7 H osd_layout 2 27 3 5 H osd_layout 2 28 23 11 H osd_layout 2 29 23 12 H osd_layout 2 30 1 13 H osd_layout 2 31 0 10 H osd_layout 2 32 12 1 H osd_layout 2 33 6 2 H osd_layout 2 34 18 2 H osd_layout 2 35 1 5 H osd_layout 2 36 1 5 H osd_layout 2 37 1 6 H osd_layout 2 38 1 7 H osd_layout 2 39 1 5 H osd_layout 2 40 1 2 H osd_layout 2 41 1 8 H osd_layout 2 42 1 7 H osd_layout 2 43 0 0 H osd_layout 2 44 0 0 H osd_layout 2 45 0 0 H osd_layout 2 46 3 6 H osd_layout 2 47 3 7 H osd_layout 2 48 23 7 H osd_layout 2 49 23 6 H osd_layout 2 50 0 0 H osd_layout 2 51 12 2 H osd_layout 2 52 12 2 H osd_layout 2 53 12 1 H osd_layout 2 54 12 1 H osd_layout 2 55 1 8 H osd_layout 2 56 2 12 H osd_layout 2 57 2 12 H osd_layout 2 58 2 12 H osd_layout 2 59 2 12 H osd_layout 2 60 2 12 H osd_layout 2 61 2 12 H osd_layout 2 62 2 10 H osd_layout 2 63 2 11 H osd_layout 2 64 2 12 H osd_layout 2 65 2 12 H osd_layout 2 66 2 12 H osd_layout 2 67 2 12 H osd_layout 2 68 2 12 H osd_layout 2 69 2 12 H osd_layout 2 70 2 12 H osd_layout 2 71 2 12 H osd_layout 2 72 2 12 H osd_layout 2 73 2 12 H osd_layout 2 74 2 12 H osd_layout 2 75 2 12 H osd_layout 2 76 2 12 H osd_layout 2 77 2 12 H osd_layout 2 78 0 0 H osd_layout 2 79 2 12 H osd_layout 2 80 2 12 H osd_layout 2 81 2 12 H osd_layout 2 82 2 12 H osd_layout 2 83 2 12 H osd_layout 2 84 2 12 H osd_layout 2 85 23 1 H osd_layout 2 86 19 2 H osd_layout 2 87 19 3 H osd_layout 2 88 19 4 H osd_layout 2 89 19 5 H osd_layout 2 90 19 6 H osd_layout 2 91 19 7 H osd_layout 2 92 19 8 H osd_layout 2 93 19 9 H osd_layout 2 94 19 10 H osd_layout 2 95 19 11 H osd_layout 2 96 0 0 H osd_layout 2 97 0 12 H osd_layout 2 98 0 0 H osd_layout 2 99 0 0 H osd_layout 2 100 12 4 H osd_layout 2 101 12 5 H osd_layout 2 102 12 6 H osd_layout 2 103 12 7 H osd_layout 2 104 0 0 H osd_layout 2 105 3 5 H osd_layout 2 106 1 2 H osd_layout 2 107 1 3 H osd_layout 2 108 2 12 H osd_layout 2 109 23 12 H osd_layout 2 110 23 11 H osd_layout 2 111 24 9 H osd_layout 2 112 24 10 H osd_layout 2 113 1 1 H osd_layout 2 114 1 2 H osd_layout 2 115 1 3 H osd_layout 2 116 1 4 H osd_layout 2 117 0 0 H osd_layout 2 118 0 0 H osd_layout 2 119 0 0 H osd_layout 2 120 0 0 H osd_layout 2 121 3 4 H osd_layout 2 122 3 5 H osd_layout 2 123 3 6 H osd_layout 2 124 23 2 H osd_layout 2 125 0 0 H osd_layout 2 126 0 0 H osd_layout 2 127 0 0 H osd_layout 2 128 0 0 H osd_layout 2 129 0 10 H osd_layout 2 130 2 7 H osd_layout 2 131 2 8 H osd_layout 2 132 2 9 H osd_layout 2 133 2 10 H osd_layout 2 134 0 0 H osd_layout 2 135 0 0 H osd_layout 2 136 0 0 H osd_layout 2 137 0 0 H osd_layout 2 138 0 0 H osd_layout 2 139 0 0 H osd_layout 2 140 12 3 H osd_layout 2 141 12 3 H osd_layout 2 142 20 3 H osd_layout 2 143 0 0 H osd_layout 2 144 1 4 H osd_layout 2 145 1 3 H osd_layout 2 146 20 3 H osd_layout 2 147 0 0 H osd_layout 2 148 0 0 H osd_layout 2 149 0 0 H osd_layout 3 0 23 0 H osd_layout 3 1 12 0 H osd_layout 3 2 0 0 H osd_layout 3 3 8 6 H osd_layout 3 4 8 6 H osd_layout 3 5 23 8 H osd_layout 3 6 23 9 H osd_layout 3 7 13 12 H osd_layout 3 8 20 2 H osd_layout 3 9 1 2 H osd_layout 3 10 8 6 H osd_layout 3 11 2 3 H osd_layout 3 12 1 4 H osd_layout 3 13 23 1 H osd_layout 3 14 0 11 H osd_layout 3 15 1 0 H osd_layout 3 16 2 10 H osd_layout 3 17 2 11 H osd_layout 3 18 2 12 H osd_layout 3 19 15 1 H osd_layout 3 20 18 12 H osd_layout 3 21 0 12 H osd_layout 3 22 14 11 H osd_layout 3 23 1 1 H osd_layout 3 24 12 2 H osd_layout 3 25 23 5 H osd_layout 3 26 24 7 H osd_layout 3 27 3 5 H osd_layout 3 28 23 11 H osd_layout 3 29 23 12 H osd_layout 3 30 1 13 H osd_layout 3 31 0 10 H osd_layout 3 32 12 1 H osd_layout 3 33 6 2 H osd_layout 3 34 18 2 H osd_layout 3 35 1 5 H osd_layout 3 36 1 5 H osd_layout 3 37 1 6 H osd_layout 3 38 1 7 H osd_layout 3 39 1 5 H osd_layout 3 40 1 2 H osd_layout 3 41 1 8 H osd_layout 3 42 1 7 H osd_layout 3 43 0 0 H osd_layout 3 44 0 0 H osd_layout 3 45 0 0 H osd_layout 3 46 3 6 H osd_layout 3 47 3 7 H osd_layout 3 48 23 7 H osd_layout 3 49 23 6 H osd_layout 3 50 0 0 H osd_layout 3 51 12 2 H osd_layout 3 52 12 2 H osd_layout 3 53 12 1 H osd_layout 3 54 12 1 H osd_layout 3 55 1 8 H osd_layout 3 56 2 12 H osd_layout 3 57 2 12 H osd_layout 3 58 2 12 H osd_layout 3 59 2 12 H osd_layout 3 60 2 12 H osd_layout 3 61 2 12 H osd_layout 3 62 2 10 H osd_layout 3 63 2 11 H osd_layout 3 64 2 12 H osd_layout 3 65 2 12 H osd_layout 3 66 2 12 H osd_layout 3 67 2 12 H osd_layout 3 68 2 12 H osd_layout 3 69 2 12 H osd_layout 3 70 2 12 H osd_layout 3 71 2 12 H osd_layout 3 72 2 12 H osd_layout 3 73 2 12 H osd_layout 3 74 2 12 H osd_layout 3 75 2 12 H osd_layout 3 76 2 12 H osd_layout 3 77 2 12 H osd_layout 3 78 0 0 H osd_layout 3 79 2 12 H osd_layout 3 80 2 12 H osd_layout 3 81 2 12 H osd_layout 3 82 2 12 H osd_layout 3 83 2 12 H osd_layout 3 84 2 12 H osd_layout 3 85 23 1 H osd_layout 3 86 19 2 H osd_layout 3 87 19 3 H osd_layout 3 88 19 4 H osd_layout 3 89 19 5 H osd_layout 3 90 19 6 H osd_layout 3 91 19 7 H osd_layout 3 92 19 8 H osd_layout 3 93 19 9 H osd_layout 3 94 19 10 H osd_layout 3 95 19 11 H osd_layout 3 96 0 0 H osd_layout 3 97 0 12 H osd_layout 3 98 0 0 H osd_layout 3 99 0 0 H osd_layout 3 100 12 4 H osd_layout 3 101 12 5 H osd_layout 3 102 12 6 H osd_layout 3 103 12 7 H osd_layout 3 104 0 0 H osd_layout 3 105 3 5 H osd_layout 3 106 1 2 H osd_layout 3 107 1 3 H osd_layout 3 108 2 12 H osd_layout 3 109 23 12 H osd_layout 3 110 23 11 H osd_layout 3 111 24 9 H osd_layout 3 112 24 10 H osd_layout 3 113 1 1 H osd_layout 3 114 1 2 H osd_layout 3 115 1 3 H osd_layout 3 116 1 4 H osd_layout 3 117 0 0 H osd_layout 3 118 0 0 H osd_layout 3 119 0 0 H osd_layout 3 120 0 0 H osd_layout 3 121 3 4 H osd_layout 3 122 3 5 H osd_layout 3 123 3 6 H osd_layout 3 124 23 2 H osd_layout 3 125 0 0 H osd_layout 3 126 0 0 H osd_layout 3 127 0 0 H osd_layout 3 128 0 0 H osd_layout 3 129 0 10 H osd_layout 3 130 2 7 H osd_layout 3 131 2 8 H osd_layout 3 132 2 9 H osd_layout 3 133 2 10 H osd_layout 3 134 0 0 H osd_layout 3 135 0 0 H osd_layout 3 136 0 0 H osd_layout 3 137 0 0 H osd_layout 3 138 0 0 H osd_layout 3 139 0 0 H osd_layout 3 140 12 3 H osd_layout 3 141 12 3 H osd_layout 3 142 20 3 H osd_layout 3 143 0 0 H osd_layout 3 144 1 4 H osd_layout 3 145 1 3 H osd_layout 3 146 20 3 H osd_layout 3 147 0 0 H osd_layout 3 148 0 0 H osd_layout 3 149 0 0 H

Programming: logic

logic 0 0 -1 0 0 0 0 0 0 logic 1 0 -1 0 0 0 0 0 0 logic 2 0 -1 0 0 0 0 0 0 logic 3 0 -1 0 0 0 0 0 0 logic 4 0 -1 0 0 0 0 0 0 logic 5 0 -1 0 0 0 0 0 0 logic 6 0 -1 0 0 0 0 0 0 logic 7 0 -1 0 0 0 0 0 0 logic 8 0 -1 0 0 0 0 0 0 logic 9 0 -1 0 0 0 0 0 0 logic 10 0 -1 0 0 0 0 0 0 logic 11 0 -1 0 0 0 0 0 0 logic 12 0 -1 0 0 0 0 0 0 logic 13 0 -1 0 0 0 0 0 0 logic 14 0 -1 0 0 0 0 0 0 logic 15 0 -1 0 0 0 0 0 0 logic 16 0 -1 0 0 0 0 0 0 logic 17 0 -1 0 0 0 0 0 0 logic 18 0 -1 0 0 0 0 0 0 logic 19 0 -1 0 0 0 0 0 0 logic 20 0 -1 0 0 0 0 0 0 logic 21 0 -1 0 0 0 0 0 0 logic 22 0 -1 0 0 0 0 0 0 logic 23 0 -1 0 0 0 0 0 0 logic 24 0 -1 0 0 0 0 0 0 logic 25 0 -1 0 0 0 0 0 0 logic 26 0 -1 0 0 0 0 0 0 logic 27 0 -1 0 0 0 0 0 0 logic 28 0 -1 0 0 0 0 0 0 logic 29 0 -1 0 0 0 0 0 0 logic 30 0 -1 0 0 0 0 0 0 logic 31 0 -1 0 0 0 0 0 0 logic 32 0 -1 0 0 0 0 0 0 logic 33 0 -1 0 0 0 0 0 0 logic 34 0 -1 0 0 0 0 0 0 logic 35 0 -1 0 0 0 0 0 0 logic 36 0 -1 0 0 0 0 0 0 logic 37 0 -1 0 0 0 0 0 0 logic 38 0 -1 0 0 0 0 0 0 logic 39 0 -1 0 0 0 0 0 0 logic 40 0 -1 0 0 0 0 0 0 logic 41 0 -1 0 0 0 0 0 0 logic 42 0 -1 0 0 0 0 0 0 logic 43 0 -1 0 0 0 0 0 0 logic 44 0 -1 0 0 0 0 0 0 logic 45 0 -1 0 0 0 0 0 0 logic 46 0 -1 0 0 0 0 0 0 logic 47 0 -1 0 0 0 0 0 0 logic 48 0 -1 0 0 0 0 0 0 logic 49 0 -1 0 0 0 0 0 0 logic 50 0 -1 0 0 0 0 0 0 logic 51 0 -1 0 0 0 0 0 0 logic 52 0 -1 0 0 0 0 0 0 logic 53 0 -1 0 0 0 0 0 0 logic 54 0 -1 0 0 0 0 0 0 logic 55 0 -1 0 0 0 0 0 0 logic 56 0 -1 0 0 0 0 0 0 logic 57 0 -1 0 0 0 0 0 0 logic 58 0 -1 0 0 0 0 0 0 logic 59 0 -1 0 0 0 0 0 0 logic 60 0 -1 0 0 0 0 0 0 logic 61 0 -1 0 0 0 0 0 0 logic 62 0 -1 0 0 0 0 0 0 logic 63 0 -1 0 0 0 0 0 0

Programming: global variables

gvar 0 0 -32768 32767 gvar 1 0 -32768 32767 gvar 2 0 -32768 32767 gvar 3 0 -32768 32767 gvar 4 0 -32768 32767 gvar 5 0 -32768 32767 gvar 6 0 -32768 32767 gvar 7 0 -32768 32767

Programming: PID controllers

pid 0 0 0 0 0 0 0 0 0 0 pid 1 0 0 0 0 0 0 0 0 0 pid 2 0 0 0 0 0 0 0 0 0 pid 3 0 0 0 0 0 0 0 0 0

OSD: custom elements

osd_custom_elements 0 0 0 0 0 0 0 0 0 "" osd_custom_elements 1 0 0 0 0 0 0 0 0 "" osd_custom_elements 2 0 0 0 0 0 0 0 0 ""

master

set looptime = 500 set gyro_hardware_lpf = 256HZ set gyro_anti_aliasing_lpf_hz = 250 set gyro_anti_aliasing_lpf_type = PT1 set gyro_main_lpf_hz = 110 set gyro_main_lpf_type = PT1 set gyro_use_dyn_lpf = ON set gyro_dyn_lpf_min_hz = 85 set gyro_dyn_lpf_max_hz = 300 set gyro_dyn_lpf_curve_expo = 3 set dynamic_gyro_notch_enabled = ON set dynamic_gyro_notch_q = 250 set dynamic_gyro_notch_min_hz = 100 set dynamic_gyro_notch_mode = 2D set dynamic_gyro_notch_3d_q = 200 set setpoint_kalman_enabled = ON set setpoint_kalman_q = 200 set init_gyro_cal = ON set gyro_zero_x = 4 set gyro_zero_y = -3 set gyro_zero_z = -2 set ins_gravity_cmss = 977.042 set vbat_adc_channel = 1 set rssi_adc_channel = 2 set current_adc_channel = 3 set airspeed_adc_channel = 0 set acc_notch_hz = 0 set acc_notch_cutoff = 1 set acc_hardware = BMI270 set acc_lpf_hz = 15 set acc_lpf_type = BIQUAD set acczero_x = -14 set acczero_y = -10 set acczero_z = 13 set accgain_x = 4083 set accgain_y = 4066 set accgain_z = 4050 set rangefinder_hardware = NONE set rangefinder_median_filter = OFF set opflow_hardware = NONE set opflow_scale = 10.500 set align_opflow = CW0FLIP set align_mag = CW0FLIP set mag_hardware = QMC5883 set mag_declination = 0 set magzero_x = 451 set magzero_y = -594 set magzero_z = 1865 set maggain_x = 1330 set maggain_y = 1238 set maggain_z = 1431 set mag_calibration_time = 30 set align_mag_roll = 0 set align_mag_pitch = 0 set align_mag_yaw = 0 set baro_hardware = DPS310 set baro_cal_tolerance = 150 set pitot_hardware = NONE set pitot_lpf_milli_hz = 350 set pitot_scale = 1.000 set receiver_type = SERIAL set min_check = 1100 set max_check = 1900 set rssi_source = AUTO set rssi_channel = 0 set rssi_min = 0 set rssi_max = 100 set sbus_sync_interval = 3000 set rc_filter_lpf_hz = 50 set rc_filter_auto = ON set rc_filter_smoothing_factor = 30 set serialrx_provider = SBUS set serialrx_inverted = OFF set srxl2_unit_id = 1 set srxl2_baud_fast = ON set rx_min_usec = 885 set rx_max_usec = 2115 set serialrx_halfduplex = AUTO set blackbox_rate_num = 1 set blackbox_rate_denom = 2 set blackbox_device = SDCARD set sdcard_detect_inverted = OFF set max_throttle = 1850 set min_command = 1000 set motor_pwm_rate = 16000 set motor_pwm_protocol = DSHOT300 set motor_poles = 14 set failsafe_delay = 5 set failsafe_recovery_delay = 5 set failsafe_off_delay = 200 set failsafe_throttle_low_delay = 0 set failsafe_procedure = DROP set failsafe_stick_threshold = 50 set failsafe_fw_roll_angle = -200 set failsafe_fw_pitch_angle = 100 set failsafe_fw_yaw_rate = -45 set failsafe_min_distance = 0 set failsafe_min_distance_procedure = DROP set failsafe_mission_delay = 0 set align_board_roll = 0 set align_board_pitch = 0 set align_board_yaw = 0 set vbat_meter_type = ADC set vbat_scale = 1100 set current_meter_scale = 490 set current_meter_offset = 0 set current_meter_type = ADC set bat_voltage_src = RAW set cruise_power = 0 set idle_power = 0 set rth_energy_margin = 5 set thr_comp_weight = 1.000 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set servo_protocol = PWM set servo_center_pulse = 1500 set servo_pwm_rate = 50 set servo_lpf_hz = 20 set flaperon_throw_offset = 200 set tri_unarmed_servo = ON set servo_autotrim_rotation_limit = 15 set reboot_character = 82 set ahrs_dcm_kp = 2000 set ahrs_dcm_ki = 50 set ahrs_dcm_kp_mag = 2000 set ahrs_dcm_ki_mag = 50 set small_angle = 25 set ahrs_acc_ignore_rate = 15 set ahrs_acc_ignore_slope = 5 set ahrs_gps_yaw_windcomp = ON set ahrs_inertia_comp_method = ADAPTIVE set ahrs_gps_yaw_weight = 100 set fixed_wing_auto_arm = OFF set disarm_kill_switch = ON set switch_disarm_delay = 250 set prearm_timeout = 10000 set applied_defaults = 2 set rpm_gyro_filter_enabled = OFF set rpm_gyro_harmonics = 1 set rpm_gyro_min_hz = 100 set rpm_gyro_q = 500 set gps_provider = UBLOX set gps_sbas_mode = EGNOS set gps_dyn_model = AIR_2G set gps_auto_config = ON set gps_auto_baud = ON set gps_auto_baud_max_supported = 230400 set gps_ublox_use_galileo = ON set gps_ublox_use_beidou = ON set gps_ublox_use_glonass = ON set gps_min_sats = 6 set gps_ublox_nav_hz = 10 set deadband = 5 set yaw_deadband = 5 set pos_hold_deadband = 10 set control_deadband = 10 set alt_hold_deadband = 50 set 3d_deadband_throttle = 50 set airmode_type = THROTTLE_THRESHOLD set airmode_throttle_threshold = 1150 set fw_autotune_min_stick = 50 set fw_autotune_rate_adjustment = AUTO set fw_autotune_max_rate_deflection = 80 set inav_auto_mag_decl = ON set inav_gravity_cal_tolerance = 5 set inav_use_gps_velned = ON set inav_use_gps_no_baro = ON set inav_allow_dead_reckoning = OFF set inav_reset_altitude = FIRST_ARM set inav_reset_home = FIRST_ARM set inav_max_surface_altitude = 200 set inav_w_z_surface_p = 3.500 set inav_w_z_surface_v = 6.100 set inav_w_xy_flow_p = 1.000 set inav_w_xy_flow_v = 2.000 set inav_w_z_baro_p = 0.350 set inav_w_z_gps_p = 0.200 set inav_w_z_gps_v = 0.100 set inav_w_xy_gps_p = 1.000 set inav_w_xy_gps_v = 2.000 set inav_w_z_res_v = 0.500 set inav_w_xy_res_v = 0.500 set inav_w_acc_bias = 0.010 set inav_max_eph_epv = 1000.000 set inav_baro_epv = 100.000 set nav_disarm_on_landing = ON set nav_land_detect_sensitivity = 5 set nav_landing_bump_detection = OFF set nav_mc_althold_throttle = STICK set nav_extra_arming_safety = ALLOW_BYPASS set nav_user_control_mode = ATTI set nav_position_timeout = 5 set nav_wp_load_on_boot = OFF set nav_wp_radius = 100 set nav_wp_enforce_altitude = 0 set nav_wp_max_safe_distance = 100 set nav_wp_mission_restart = RESUME set nav_wp_multi_mission_index = 1 set nav_fw_wp_tracking_accuracy = 0 set nav_fw_wp_tracking_max_angle = 60 set nav_fw_wp_turn_smoothing = OFF set nav_auto_speed = 300 set nav_min_ground_speed = 7 set nav_max_auto_speed = 1000 set nav_auto_climb_rate = 500 set nav_manual_speed = 500 set nav_manual_climb_rate = 200 set nav_land_minalt_vspd = 50 set nav_land_maxalt_vspd = 200 set nav_land_slowdown_minalt = 500 set nav_land_slowdown_maxalt = 2000 set nav_emerg_landing_speed = 500 set nav_min_rth_distance = 500 set nav_overrides_motor_stop = ALL_NAV set nav_fw_soaring_motor_stop = OFF set nav_fw_soaring_pitch_deadband = 5 set nav_rth_climb_first = ON set nav_rth_climb_first_stage_mode = AT_LEAST set nav_rth_climb_first_stage_altitude = 0 set nav_rth_climb_ignore_emerg = OFF set nav_rth_tail_first = OFF set nav_rth_allow_landing = ALWAYS set nav_rth_fs_landing_delay = 0 set nav_rth_alt_mode = AT_LEAST set nav_rth_alt_control_override = OFF set nav_rth_abort_threshold = 50000 set nav_max_terrain_follow_alt = 100 set nav_max_altitude = 0 set nav_rth_altitude = 1000 set nav_rth_home_altitude = 0 set nav_rth_linear_descent_start_distance = 0 set nav_rth_use_linear_descent = OFF set nav_rth_trackback_mode = OFF set nav_rth_trackback_distance = 500 set safehome_max_distance = 20000 set safehome_usage_mode = RTH set nav_mission_planner_reset = ON set nav_cruise_yaw_rate = 20 set nav_mc_bank_angle = 30 set nav_auto_disarm_delay = 1000 set nav_mc_braking_speed_threshold = 100 set nav_mc_braking_disengage_speed = 75 set nav_mc_braking_timeout = 2000 set nav_mc_braking_boost_factor = 100 set nav_mc_braking_boost_timeout = 750 set nav_mc_braking_boost_speed_threshold = 150 set nav_mc_braking_boost_disengage_speed = 100 set nav_mc_braking_bank_angle = 40 set nav_mc_pos_deceleration_time = 120 set nav_mc_pos_expo = 10 set nav_mc_wp_slowdown = ON set nav_fw_bank_angle = 35 set nav_fw_climb_angle = 20 set nav_fw_dive_angle = 15 set nav_fw_pitch2thr_smoothing = 6 set fw_min_throttle_down_pitch = 0 set nav_fw_pitch2thr_threshold = 50 set nav_fw_loiter_radius = 7500 set fw_loiter_direction = RIGHT set nav_fw_cruise_speed = 0 set nav_fw_control_smoothness = 0 set nav_fw_land_dive_angle = 2 set nav_fw_launch_velocity = 300 set nav_fw_launch_accel = 1863 set nav_fw_launch_max_angle = 45 set nav_fw_launch_detect_time = 40 set nav_fw_launch_idle_motor_delay = 0 set nav_fw_launch_motor_delay = 500 set nav_fw_launch_spinup_time = 100 set nav_fw_launch_end_time = 3000 set nav_fw_launch_min_time = 0 set nav_fw_launch_timeout = 5000 set nav_fw_launch_max_altitude = 0 set nav_fw_launch_climb_angle = 18 set nav_fw_launch_manual_throttle = OFF set nav_fw_launch_land_abort_deadband = 100 set nav_fw_allow_manual_thr_increase = OFF set nav_use_fw_yaw_control = OFF set nav_fw_yaw_deadband = 0 set telemetry_switch = OFF set telemetry_inverted = OFF set frsky_pitch_roll = OFF set report_cell_voltage = OFF set hott_alarm_sound_interval = 5 set telemetry_halfduplex = ON set smartport_fuel_unit = MAH set ibus_telemetry_type = 0 set ltm_update_rate = NORMAL set sim_ground_station_number = set sim_pin = 0000 set sim_transmit_interval = 60 set sim_transmit_flags = 2 set acc_event_threshold_high = 0 set acc_event_threshold_low = 0 set acc_event_threshold_neg_x = 0 set sim_low_altitude = -32767 set mavlink_ext_status_rate = 2 set mavlink_rc_chan_rate = 5 set mavlink_pos_rate = 2 set mavlink_extra1_rate = 10 set mavlink_extra2_rate = 2 set mavlink_extra3_rate = 1 set mavlink_version = 2 set ledstrip_visual_beeper = OFF set osd_telemetry = OFF set osd_video_system = AUTO set osd_row_shiftdown = 0 set osd_msp_displayport_fullframe_interval = 10 set osd_units = METRIC set osd_stats_energy_unit = MAH set osd_stats_min_voltage_unit = BATTERY set osd_stats_page_auto_swap_time = 3 set osd_rssi_alarm = 20 set osd_time_alarm = 10 set osd_alt_alarm = 100 set osd_dist_alarm = 1000 set osd_neg_alt_alarm = 5 set osd_current_alarm = 0 set osd_gforce_alarm = 5.000 set osd_gforce_axis_alarm_min = -5.000 set osd_gforce_axis_alarm_max = 5.000 set osd_imu_temp_alarm_min = -200 set osd_imu_temp_alarm_max = 600 set osd_esc_temp_alarm_max = 900 set osd_esc_temp_alarm_min = -200 set osd_baro_temp_alarm_min = -200 set osd_baro_temp_alarm_max = 600 set osd_snr_alarm = 4 set osd_link_quality_alarm = 70 set osd_rssi_dbm_alarm = 0 set osd_rssi_dbm_max = -30 set osd_rssi_dbm_min = -120 set osd_temp_label_align = LEFT set osd_airspeed_alarm_min = 0.000 set osd_airspeed_alarm_max = 0.000 set osd_ahi_reverse_roll = OFF set osd_ahi_max_pitch = 20 set osd_crosshairs_style = DEFAULT set osd_crsf_lq_format = TYPE1 set osd_horizon_offset = 0 set osd_camera_uptilt = 0 set osd_ahi_camera_uptilt_comp = OFF set osd_camera_fov_h = 135 set osd_camera_fov_v = 85 set osd_hud_margin_h = 3 set osd_hud_margin_v = 3 set osd_hud_homing = OFF set osd_hud_homepoint = OFF set osd_hud_radar_disp = 0 set osd_hud_radar_range_min = 3 set osd_hud_radar_range_max = 4000 set osd_hud_radar_alt_difference_display_time = 3 set osd_hud_radar_distance_display_time = 3 set osd_hud_wp_disp = 0 set osd_left_sidebar_scroll = NONE set osd_right_sidebar_scroll = NONE set osd_sidebar_scroll_arrows = OFF set osd_main_voltage_decimals = 1 set osd_coordinate_digits = 9 set osd_estimations_wind_compensation = ON set osd_failsafe_switch_layout = OFF set osd_plus_code_digits = 11 set osd_plus_code_short = 0 set osd_ahi_style = DEFAULT set osd_force_grid = OFF set osd_ahi_bordered = OFF set osd_ahi_width = 132 set osd_ahi_height = 162 set osd_ahi_vertical_offset = -18 set osd_sidebar_horizontal_offset = 0 set osd_left_sidebar_scroll_step = 0 set osd_right_sidebar_scroll_step = 0 set osd_sidebar_height = 3 set osd_ahi_pitch_interval = 0 set osd_home_position_arm_screen = ON set osd_pan_servo_index = 0 set osd_pan_servo_pwm2centideg = 0 set osd_pan_servo_offcentre_warning = 10 set osd_pan_servo_indicator_show_degrees = OFF set osd_esc_rpm_precision = 3 set osd_mah_precision = 4 set osd_use_pilot_logo = OFF set osd_inav_to_pilot_logo_spacing = 8 set osd_arm_screen_display_time = 1500 set osd_switch_indicator_zero_name = FLAP set osd_switch_indicator_one_name = GEAR set osd_switch_indicator_two_name = CAM set osd_switch_indicator_three_name = LIGT set osd_switch_indicator_zero_channel = 5 set osd_switch_indicator_one_channel = 5 set osd_switch_indicator_two_channel = 5 set osd_switch_indicator_three_channel = 5 set osd_switch_indicators_align_left = ON set osd_system_msg_display_time = 1000 set osd_speed_source = GROUND set i2c_speed = 800KHZ set debug_mode = NONE set throttle_tilt_comp_str = 0 set name = set pilot_name = set mode_range_logic_operator = OR set stats = OFF set stats_total_time = 0 set stats_total_dist = 0 set stats_total_energy = 0 set tz_offset = 0 set tz_automatic_dst = OFF set display_force_sw_blink = OFF set vtx_halfduplex = ON set vtx_smartaudio_early_akk_workaround = ON set vtx_smartaudio_alternate_softserial_method = ON set vtx_softserial_shortstop = OFF set vtx_smartaudio_stopbits = 2 set vtx_band = 1 set vtx_channel = 1 set vtx_power = 1 set vtx_low_power_disarm = OFF set vtx_pit_mode_chan = 1 set vtx_max_power_override = 0 set vtx_frequency_group = FREQUENCYGROUP_5G8 set pinio_box1 = 47 set pinio_box2 = 255 set pinio_box3 = 255 set pinio_box4 = 255 set log_level = ERROR set log_topics = 0 set esc_sensor_listen_only = OFF set smartport_master_halfduplex = ON set smartport_master_inverted = OFF set dji_workarounds = 1 set dji_use_name_for_messages = ON set dji_esc_temp_source = ESC set dji_message_speed_source = 3D set dji_rssi_source = RSSI set dji_use_adjustments = OFF set dji_cn_alternating_duration = 30 set dshot_beeper_enabled = ON set dshot_beeper_tone = 1 set beeper_pwm_mode = OFF set limit_pi_p = 100 set limit_pi_i = 100 set limit_attn_filter_cutoff = 1.200 set led_pin_pwm_mode = SHARED_LOW set osd_joystick_enabled = OFF set osd_joystick_down = 0 set osd_joystick_up = 48 set osd_joystick_left = 63 set osd_joystick_right = 28 set osd_joystick_enter = 75 set nav_fw_land_approach_length = 35000 set nav_fw_land_final_approach_pitch2throttle_mod = 100 set nav_fw_land_glide_alt = 200 set nav_fw_land_flare_alt = 150 set nav_fw_land_glide_pitch = 0 set nav_fw_land_flare_pitch = 8 set nav_fw_land_max_tailwind = 140

mixer_profile

mixer_profile 1

set motor_direction_inverted = OFF set platform_type = MULTIROTOR set has_flaps = OFF set model_preview_type = 3 set motorstop_on_low = OFF set mixer_pid_profile_linking = OFF set mixer_automated_switch = OFF set mixer_switch_trans_timer = 0 set tailsitter_orientation_offset = OFF

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

profile

profile 1

set mc_p_pitch = 40 set mc_i_pitch = 90 set mc_d_pitch = 27 set mc_cd_pitch = 60 set mc_p_roll = 36 set mc_i_roll = 80 set mc_d_roll = 25 set mc_cd_roll = 60 set mc_p_yaw = 35 set mc_i_yaw = 80 set mc_d_yaw = 0 set mc_cd_yaw = 60 set mc_p_level = 20 set mc_i_level = 15 set mc_d_level = 75 set fw_p_pitch = 5 set fw_i_pitch = 7 set fw_d_pitch = 0 set fw_ff_pitch = 50 set fw_p_roll = 5 set fw_i_roll = 7 set fw_d_roll = 0 set fw_ff_roll = 50 set fw_p_yaw = 6 set fw_i_yaw = 10 set fw_d_yaw = 0 set fw_ff_yaw = 60 set fw_p_level = 20 set fw_i_level = 5 set fw_d_level = 75 set max_angle_inclination_rll = 300 set max_angle_inclination_pit = 300 set dterm_lpf_hz = 110 set dterm_lpf_type = PT3 set yaw_lpf_hz = 0 set fw_reference_airspeed = 1500.000 set fw_turn_assist_yaw_gain = 1.000 set fw_turn_assist_pitch_gain = 1.000 set fw_iterm_limit_stick_position = 0.500 set fw_yaw_iterm_freeze_bank_angle = 0 set pidsum_limit = 500 set pidsum_limit_yaw = 350 set iterm_windup = 50 set pid_iterm_limit_percent = 33 set rate_accel_limit_roll_pitch = 0 set rate_accel_limit_yaw = 10000 set heading_hold_rate_limit = 90 set nav_mc_pos_z_p = 50 set nav_mc_vel_z_p = 100 set nav_mc_vel_z_i = 50 set nav_mc_vel_z_d = 10 set nav_mc_pos_xy_p = 65 set nav_mc_vel_xy_p = 40 set nav_mc_vel_xy_i = 15 set nav_mc_vel_xy_d = 100 set nav_mc_vel_xy_ff = 40 set nav_mc_heading_p = 60 set nav_mc_vel_xy_dterm_lpf_hz = 2.000 set nav_mc_vel_xy_dterm_attenuation = 90 set nav_mc_vel_xy_dterm_attenuation_start = 10 set nav_mc_vel_xy_dterm_attenuation_end = 60 set nav_fw_pos_z_p = 40 set nav_fw_pos_z_i = 5 set nav_fw_pos_z_d = 10 set nav_fw_pos_xy_p = 75 set nav_fw_pos_xy_i = 5 set nav_fw_pos_xy_d = 8 set nav_fw_heading_p = 60 set nav_fw_pos_hdg_p = 30 set nav_fw_pos_hdg_i = 2 set nav_fw_pos_hdg_d = 0 set nav_fw_pos_hdg_pidsum_limit = 350 set mc_iterm_relax = RP set mc_iterm_relax_cutoff = 15 set d_boost_min = 1.000 set d_boost_max = 1.000 set d_boost_max_at_acceleration = 7500.000 set d_boost_gyro_delta_lpf_hz = 80 set antigravity_gain = 2.000 set antigravity_accelerator = 5.000 set antigravity_cutoff_lpf_hz = 15 set pid_type = AUTO set mc_cd_lpf_hz = 30 set fw_level_pitch_trim = 0.000 set smith_predictor_strength = 0.500 set smith_predictor_delay = 1.500 set smith_predictor_lpf_hz = 50 set fw_level_pitch_gain = 5.000 set thr_mid = 50 set thr_expo = 0 set tpa_rate = 20 set tpa_breakpoint = 1200 set tpa_on_yaw = OFF set fw_tpa_time_constant = 1500 set rc_expo = 75 set rc_yaw_expo = 75 set roll_rate = 70 set pitch_rate = 70 set yaw_rate = 60 set manual_rc_expo = 35 set manual_rc_yaw_expo = 20 set manual_roll_rate = 100 set manual_pitch_rate = 100 set manual_yaw_rate = 100 set fpv_mix_degrees = 0 set rate_dynamics_center_sensitivity = 100 set rate_dynamics_end_sensitivity = 100 set rate_dynamics_center_correction = 10 set rate_dynamics_end_correction = 10 set rate_dynamics_center_weight = 0 set rate_dynamics_end_weight = 0 set ez_enabled = OFF set ez_filter_hz = 110 set ez_axis_ratio = 110 set ez_response = 100 set ez_damping = 100 set ez_stability = 100 set ez_aggressiveness = 100 set ez_rate = 100 set ez_expo = 100

battery_profile

battery_profile 1

set bat_cells = 0 set vbat_cell_detect_voltage = 425 set vbat_max_cell_voltage = 420 set vbat_min_cell_voltage = 330 set vbat_warning_cell_voltage = 350 set battery_capacity = 0 set battery_capacity_warning = 0 set battery_capacity_critical = 0 set battery_capacity_unit = MAH set controlrate_profile = 0 set throttle_scale = 1.000 set throttle_idle = 15.000 set turtle_mode_power_factor = 55 set failsafe_throttle = 1000 set nav_mc_hover_thr = 1300 set nav_fw_cruise_thr = 1400 set nav_fw_min_thr = 1200 set nav_fw_max_thr = 1700 set nav_fw_pitch2thr = 10 set nav_fw_launch_thr = 1700 set nav_fw_launch_idle_thr = 1000 set limit_cont_current = 0 set limit_burst_current = 0 set limit_burst_current_time = 0 set limit_burst_current_falldown_time = 0 set limit_cont_power = 0 set limit_burst_power = 0 set limit_burst_power_time = 0 set limit_burst_power_falldown_time = 0

save configuration

save

end the command batch

batch end

MrD-RC commented 6 months ago

The issue is that GNSS module has a barometer on it. It is conflicting with the barometer on the flight controller. Ideally, you should just use a GNSS module without a barometer. Such as a Matek M10 or the Walksnail M181 M10. The other option is to physically remove the barometer from the GNSS module.

Avoid the GepRC modules unless your flight controller doesn't have a barometer.

borattoo commented 6 months ago

Thank you for the quick response, @MrD-RC.

I understand the issue with the GNSS module's barometer conflicting with the one on the flight controller. Currently, I do not have access to a GNSS module without a barometer. Is there a way to disable the barometer on the GNSS module through CLI commands or configuration settings in iNav? This would allow me to continue using my current setup without needing to physically modify the hardware.

I appreciate any further guidance you can provide.

MrD-RC commented 6 months ago

No. INAV doesn't have control over the baro on the GNSS. The two baros are conflicting. So no way to talk to them individually.

borattoo commented 6 months ago

so better use a gps without barometer and compass? i will get all functionality dont using

No. INAV doesn't have control over the baro on the GNSS. The two baros are conflicting. So no way to talk to them individually.

Thank you for the clarification, @MrD-RC.

Given that INAV cannot control the barometer on the GNSS module individually, would it be advisable to use a GPS unit that only connects via RX, TX, Ground, and Power, effectively foregoing the magnetometer as well? Would I still be able to fully utilize INAV's features without the magnetometer?

Additionally, I'm aware that Betaflight has a set baro_i2c_device command that allows users to select which barometer device to use. Is there a similar command or any workaround in INAV that could help resolve this issue without having to replace the GPS module?

I appreciate your guidance on how best to configure my setup under these circumstances.

sensei-hacker commented 6 months ago

Would I still be able to fully utilize INAV's features without the magnetometer?

You can disconnect the I2C and forego the mag. INAV works fairly well without a mag. When operating without a compass, it's a good idea to fly straight forward for a few meters upon take off so that INAV can figure out whether forward is north, east, etc.

When navigating without a compass, it's important to minimize vibration - make sure screws are snug and there are no wires or anything flapping around.

baro_i2c_device command

Unfortunately, when you have two of the same barometer attached to the same pin, there is no way to distinguish them. You have both on bus 2. The baro_i2c_device command specifies which bus the baro is on. With twin baros on the same bus, they are indistinguishable. Telling it not to use that bus would mean neither copy of the baro is reachable.

Some people have used a very fine tip on their soldering iron, and a magnifying glass, to disable the baro on such a combined GPS / baro board. That can of course go badly.