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INAV: Navigation-enabled flight control software
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No GPS Sats suddenly with 2.0 RC4 #3643

Closed VoicOfReason closed 6 years ago

VoicOfReason commented 6 years ago

I was Getting up to 18 sats and flying well but after RC4, the GPS coordinates DO display and cycle with different numbers as if it’s trying to get a sat fix, but it never even gets 1 satellite fix. No crashes. I even Swapped all the wiring and swapped the GPS for a new, identical GPS. I’m running RC4 with SP Racing F4 EVO. Was flying perfect.

marbalon commented 6 years ago

I have the same issue when on RC4. 9satelites , then 0 and again 9. So looks like communication problem.

pon., 23.07.2018, 17:07 użytkownik VoicOfReason notifications@github.com napisał:

I was Getting up to 18 sats and flying well but after RC4, the GPS coordinates DO display and cycle with different numbers as if it’s trying to get a sat fix, but it never even gets 1 satellite fix. No crashes. I even Swapped all the wiring and swapped the GPS for a new, identical GPS. I’m running RC4 with SP Racing F4 EVO. Was flying perfect.

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stronnag commented 6 years ago

I've seen this too. In the middle of swapping some hardware around; but I doubt that's the cause. MATEKF405.

VoicOfReason commented 6 years ago

So maybe we can elevate this issue and get it looked at and fixed soon? I’m on a trip to the mountains and haven’t been able to fly at all because of this (my fault partly for using beta firmware).

VoicOfReason commented 6 years ago

I tried RC4 on a Mateo F722 also and got the same exact issue.

stronnag commented 6 years ago

I'm in two (or more) minds on this one; it could just be the GPS having a 'bad hair day' image updated: add image with eph / epv

digitalentity commented 6 years ago

I'm attempting to reproduce

VoicOfReason commented 6 years ago

I tried 2 GPS’s and it 2 different parts of the country since I’m on a trip. First in Arkansas and then in Montana. Also tried different times of day.

On Mon, Jul 23, 2018 at 11:58 AM Konstantin Sharlaimov < notifications@github.com> wrote:

I'm attempting to reproduce

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VoicOfReason commented 6 years ago

When I get A chance to downgrade to RC3 I’ll also see if the problem resolves.

On Mon, Jul 23, 2018 at 12:07 PM Peter Freund freund7@sbcglobal.net wrote:

I tried 2 GPS’s and it 2 different parts of the country since I’m on a trip. First in Arkansas and then in Montana. Also tried different times of day.

On Mon, Jul 23, 2018 at 11:58 AM Konstantin Sharlaimov < notifications@github.com> wrote:

I'm attempting to reproduce

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stronnag commented 6 years ago

And in the furtherance of statistics that prove nothing, here's my mwp logs for numsat = 0 (it's orders of magnitude easier to grep JSON than a binary log). There are definitely more instances later in the year; I'm not sure that is entirely weather / daylight related as I fly 3 - 5 times a week most of the year. It's also not hardware related as it spans 3 different machines.

$ grep -lr --include \*2018\*.log 'numsat":0' . | sort
./2018-02-19_custom/mwp_2018-02-19_145504.log
./2018-03-10_tri/mwp_2018-03-10_161526.log
./2018-04-28_tri/mwp_2018-04-28_135125.log
./2018-05-13_quad/mwp_2018-05-13_135807.log
./2018-05-25_quad/mwp_2018-05-25_160803.log
./2018-06-10_custom/mwp_2018-06-10_141039.log
./2018-06-10_custom/mwp_2018-06-10_143039.log
./2018-06-11_custom/mwp_2018-06-11_162553.log
./2018-06-11_custom/mwp_2018-06-11_164129.log
./2018-06-13_custom/mwp_2018-06-13_141741.log
./2018-06-13_custom/mwp_2018-06-13_142756.log
./2018-06-13_custom/mwp_2018-06-13_162034.log
./2018-06-29_tri/mwp_2018-06-29_152051.log
./2018-07-01_tri/mwp_2018-07-01_143721.log
./2018-07-04_custom/mwp_2018-07-04_142518.log
./2018-07-08_tri/mwp_2018-07-08_145235.log
./2018-07-11_custom/mwp_2018-07-11_151909.log
./2018-07-11_custom/mwp_2018-07-11_164118.log
./2018-07-16_custom/mwp_2018-07-16_162619.log
./2018-07-22_tri/mwp_2018-07-22_143707.log
./2018-07-22_tri/mwp_2018-07-22_151631.log

There are 21 instances this year (all development branch) of the 597 logs for 2018 (so 3.5%). Two of instances predate development being tagged as 2.0.0.

This is probably not helpful, but good luck in reproducing.

digitalentity commented 6 years ago

Unable to reproduce. 1 hour of rock-solid fix with 8-11 sats.

stronnag commented 6 years ago

That doesn't surprise me, I can fly for days without issue; then bang either random sat behaviour or #3267 like behaviour (on craft that have been flying iNav stably for several years). Maybe the hardware has gone bad, ~but at the moment I have very little confidence in 2.0.0 (and you will appreciate how much it pains me to write that)~. Further hardware fiddling and downgrades to follow. Yup, it was bad hardware. iNav 2.0.0 has my unbridled confidence again.

VoicOfReason commented 6 years ago

So, stronag, you are seeing 0 sats issue also? Wasn’t sure if you confirmed this.

On Mon, Jul 23, 2018 at 1:18 PM stronnag notifications@github.com wrote:

That doesn't surprise me, I can fly for days without issue; then bang either random sat behaviour or #3267 https://github.com/iNavFlight/inav/issues/3267 like behaviour (on craft that have been flying iNav stably for several years). Maybe the hardware has gone bad, but at the moment I have very little confidence in 2.0.0 (and you will appreciate how much it pains me to write that). Further hardware fiddling and downgrades to follow.

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VoicOfReason commented 6 years ago

Here’s what it looks like on my taranis. Stays this way indefinitely. Like I said, tried it in several states and different days/times:

https://youtu.be/iEzS3n7tzyY

digitalentity commented 6 years ago

@VoicOfReason don't see the described issue. GPS just don't have a fix yet OR problem is sat count reporting via telemetry.

stronnag commented 6 years ago

The issue that I and @marbalon are reporting appears to a the case where the GPS loses the fix.

In the analysis following, 488 blackbox files (just my 2018 records:), comprising 680 flight logs results in 35 zero-satellite reports. None of these outages last more than 300ms and the GPS recovers.

The zero-sat reports are obviously from the GPS, as the fixtype (0) and HDOP (9999) are consistent with raw data from the GPS (not synthesised by iNav).

The evidence demonstrates that mid-flight occurrence of "X satellites ... 0 satellites ... X satellites" is not an iNav issue, it's a transient GPS issue that iNav reports correctly.

$ inav_0sat.rb $(find /t/inav -ipath "*2018*TXT")
****** /t/inav/2018-06-29_tri/LOG00007.TXT index = 1
 GPS 0-sat event for 0.08s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=10.63s
 Resume: numsats=18, fixtype=2, hdop=109, time=10.71s
 GPS 0-sat event for 0.12s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=12.91s
 Resume: numsats=19, fixtype=2, hdop=105, time=13.03s
****** /t/inav/2018-07-22_custom/LOG00005.TXT index = 1
 GPS 0-sat event for 0.12s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=407.79s
 Resume: numsats=19, fixtype=2, hdop=105, time=407.91s
****** /t/inav/2018-07-01_tri/LOG00008.TXT index = 1
 GPS 0-sat event for 0.12s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=2.33s
 Resume: numsats=17, fixtype=2, hdop=130, time=2.45s
****** /t/inav/2018-05-25_quad/BBL_2018-05-25_170232.TXT index = 2
 GPS 0-sat event for 0.24s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=16.88s
 Resume: numsats=16, fixtype=2, hdop=123, time=17.12s
****** /t/inav/2018-03-10_tri/LOG00007.TXT index = 1
 GPS 0-sat event for 0.20s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=5.29s
 Resume: numsats=16, fixtype=2, hdop=136, time=5.49s
****** /t/inav/2018-06-10_custom/BBL_2018-06-10_160130.TXT index = 3
 GPS 0-sat event for 0.08s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=3.99s
 Resume: numsats=13, fixtype=2, hdop=122, time=4.07s
 GPS 0-sat event for 0.12s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=31.97s
 Resume: numsats=15, fixtype=2, hdop=109, time=32.09s
 GPS 0-sat event for 0.08s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=206.05s
 Resume: numsats=16, fixtype=2, hdop=101, time=206.13s
****** /t/inav/2018-06-10_custom/BBL_2018-06-10_160130.TXT index = 6
 GPS 0-sat event for 0.28s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=230.60s
 Resume: numsats=13, fixtype=2, hdop=125, time=230.88s
****** /t/inav/2018-02-19_custom/LOG00003.TXT index = 1
 GPS 0-sat event for 0.20s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=4.03s
 Resume: numsats=13, fixtype=2, hdop=138, time=4.23s
 GPS 0-sat event for 0.08s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=4.35s
 Resume: numsats=10, fixtype=2, hdop=193, time=4.43s
****** /t/inav/2018-07-08_tri/LOG00005.TXT index = 1
 GPS 0-sat event for 0.12s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=7.70s
 Resume: numsats=19, fixtype=2, hdop=107, time=7.82s
****** /t/inav/2018-01-26_tri/LOG00007.TXT index = 1
 GPS 0-sat event for 0.12s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=4.07s
 Resume: numsats=16, fixtype=2, hdop=109, time=4.19s
****** /t/inav/2018-07-16_custom/LOG00007.TXT index = 1
 GPS 0-sat event for 0.20s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=3.67s
 Resume: numsats=18, fixtype=2, hdop=117, time=3.87s
****** /t/inav/2018-01-28_tri/LOG00006.TXT index = 1
 GPS 0-sat event for 0.08s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=4.86s
 Resume: numsats=18, fixtype=2, hdop=114, time=4.94s
****** /t/inav/2018-07-22_tri/LOG00006.TXT index = 1
 GPS 0-sat event for 0.12s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=8.94s
 Resume: numsats=20, fixtype=2, hdop=108, time=9.06s
****** /t/inav/2018-06-25_custom/BBL_2018-06-25_194112.TXT index = 1
 GPS 0-sat event for 0.12s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=78.00s
 Resume: numsats=14, fixtype=2, hdop=135, time=78.12s
****** /t/inav/2018-06-11_custom/BBL_2018-06-11_171855.TXT index = 1
 GPS 0-sat event for 0.08s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=308.37s
 Resume: numsats=15, fixtype=2, hdop=157, time=308.45s
****** /t/inav/2018-06-11_custom/BBL_2018-06-11_171855.TXT index = 3
 GPS 0-sat event for 0.12s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=3.20s
 Resume: numsats=16, fixtype=2, hdop=118, time=3.32s
****** /t/inav/2018-04-28_tri/LOG00003.TXT index = 1
 GPS 0-sat event for 0.12s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=12.41s
 Resume: numsats=17, fixtype=2, hdop=130, time=12.53s
 GPS 0-sat event for 0.08s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=236.58s
 Resume: numsats=17, fixtype=2, hdop=128, time=236.66s
 GPS 0-sat event for 0.12s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=617.04s
 Resume: numsats=18, fixtype=2, hdop=119, time=617.16s
****** /t/inav/2018-07-04_custom/BBL_2018-07-04_144518.TXT index = 4
 GPS 0-sat event for 0.20s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=113.53s
 Resume: numsats=13, fixtype=2, hdop=154, time=113.73s
****** /t/inav/2018-07-04_custom/BBL_2018-07-04_152802.TXT index = 4
 GPS 0-sat event for 0.08s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=111.20s
 Resume: numsats=16, fixtype=2, hdop=124, time=111.28s
****** /t/inav/2018-07-04_custom/BBL_2018-07-04_152802.TXT index = 6
 GPS 0-sat event for 0.12s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=106.16s
 Resume: numsats=17, fixtype=2, hdop=121, time=106.28s
****** /t/inav/2018-01-14_tri/LOG00005.TXT index = 1
 GPS 0-sat event for 0.08s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=4.45s
 Resume: numsats=17, fixtype=2, hdop=117, time=4.53s
****** /t/inav/2018-06-13_custom/BBL_2018-06-13_165848.TXT index = 1
 GPS 0-sat event for 0.08s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=381.39s
 Resume: numsats=16, fixtype=2, hdop=115, time=381.47s
****** /t/inav/2018-06-13_custom/BBL_2018-06-13_161833.TXT index = 2
 GPS 0-sat event for 0.08s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=152.91s
 Resume: numsats=16, fixtype=2, hdop=104, time=152.99s
****** /t/inav/2018-06-13_custom/BBL_2018-06-13_161833.TXT index = 3
 GPS 0-sat event for 0.08s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=30.47s
 Resume: numsats=15, fixtype=2, hdop=107, time=30.55s
****** /t/inav/2018-06-13_custom/BBL_2018-06-13_161833.TXT index = 5
 GPS 0-sat event for 0.20s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=3.47s
 Resume: numsats=13, fixtype=2, hdop=135, time=3.67s
****** /t/inav/2018-06-13_custom/BBL_2018-06-13_161833.TXT index = 6
 GPS 0-sat event for 0.20s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=3.53s
 Resume: numsats=14, fixtype=2, hdop=122, time=3.73s
****** /t/inav/2018-07-21_custom/LOG00011.TXT index = 1
 GPS 0-sat event for 0.08s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=2.50s
 Resume: numsats=18, fixtype=2, hdop=117, time=2.58s
****** /t/inav/2018-07-11_custom/BBL_2018-07-11_170806.TXT index = 3
 GPS 0-sat event for 0.12s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=3.51s
 Resume: numsats=16, fixtype=2, hdop=126, time=3.63s
****** /t/inav/2018-07-11_custom/BBL_2018-07-11_162725.TXT index = 2
 GPS 0-sat event for 0.20s duration
 Event : numsats=0, fixtype=0, hdop=9999, time=286.11s
 Resume: numsats=17, fixtype=2, hdop=110, time=286.31s
Files 488, Flight logs 680, Zero-sat records 35
digitalentity commented 6 years ago

That was my conclusion as well - most likely GPS-related issue, not INAV-related.

stronnag commented 6 years ago

Indeed, just to make it even more blindingly obvious, here's a short rerun with the "immediately before" state as well.

****** /t/inav/2018-06-29_tri/LOG00007.TXT index = 1
 GPS 0-sat event of 0.08s duration
 Before : numsats=17, fixtype=2, hdop=120, time=10.63s
 Event : numsats=0, fixtype=0, hdop=9999, time=10.63s
 Resume: numsats=18, fixtype=2, hdop=109, time=10.71s
 GPS 0-sat event of 0.12s duration
 Before : numsats=19, fixtype=2, hdop=105, time=12.91s
 Event : numsats=0, fixtype=0, hdop=9999, time=12.91s
 Resume: numsats=19, fixtype=2, hdop=105, time=13.03s
****** /t/inav/2018-07-22_custom/LOG00005.TXT index = 1
 GPS 0-sat event of 0.12s duration
 Before : numsats=19, fixtype=2, hdop=105, time=407.78s
 Event : numsats=0, fixtype=0, hdop=9999, time=407.79s
 Resume: numsats=19, fixtype=2, hdop=105, time=407.91s
VoicOfReason commented 6 years ago

Ok everyone, I have an update. I can absolutely confirm that RC4 is responsible for 0 sats (forever) on my quad. I tried 4-5 times on my trip out west (in different locations across the country from Arkansas to Montana) to get even 1 satellite on RC4. No matter how long it sat, it never got a sat. I even messed around with all kinds of settings in iNav. Tonight, I finally downgraded to RC1 and then tried RC2 using my kid's Chromebook. Boom! No config changes. GPS worked again. Got 4 sats within 1 minute! Up to 9 GPS just sitting in front of the window, in my hotel room. Everything is fixed. So, there is absolutely a serious issue going on here.

Here's my setup: BN-880 SP Racing F4 EVO DJI Occusync Air MSP Another MSP port for MobileFlight data via Crossfire Micro (channels 3-4) Crossfire Micro Tx 2.0 TBS G2 frame 32bit ESC

If there is any other information/data you need from me, let me know. No doubt, RC3 would have fixed it, as well, since I was flying stable on RC3 before my trip, but iNav on Chromebook only showed RC1 and RC2 as options to downgrade to.

digitalentity commented 6 years ago

@VoicOfReason diff between RC3 and RC4 is quite small and doesn't touch anything GPS-related: https://github.com/iNavFlight/inav/compare/2.0.0-RC3...2.0.0-RC4

I strongly doubt it's an RC4-specific issue. Still unable to reproduce.

VoicOfReason commented 6 years ago

I’ll keep looking into the issue and update here if I find The cause.

On Wed, Jul 25, 2018 at 12:06 PM Konstantin Sharlaimov < notifications@github.com> wrote:

@VoicOfReason https://github.com/VoicOfReason diff between RC3 and RC4 is quite small and doesn't touch anything GPS-related: 2.0.0-RC3...2.0.0-RC4 https://github.com/iNavFlight/inav/compare/2.0.0-RC3...2.0.0-RC4

I strongly doubt it's an RC4-specific issue.

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shellixyz commented 6 years ago

I can't reproduce either. I didn't see anything different in how the GPS is working between any of the 2.0 RCs. @VoicOfReason @marbalon Are you using a RC Split camera ? They are producing EMI that can affect the GPS reception.

VoicOfReason commented 6 years ago

Yes I am. How can I deal With split interference? The camera itself is right next to the GPS.

On Thu, Jul 26, 2018 at 7:42 AM Michel Pastor notifications@github.com wrote:

I can't reproduce either. I didn't see anything different in how the GPS is working between any of the 2.0 RCs. @VoicOfReason https://github.com/VoicOfReason @marbalon https://github.com/marbalon Are you using a RC Split camera ? They are producing EMI that can affect the GPS reception.

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DeltaVelocity101 commented 6 years ago

I am having a very similar issue on an F405 on 1.9.1 (03a5c1922) GPS appears to hop from ~6-9 sats to zero then flip back to 6-9. It does this quite quickly and seemingly with no pattern. What GPS are you using? Perhaps this is an F405 + GPS issue?

shellixyz commented 6 years ago

@VoicOfReason I guess you can try to shield it but I don't know how easy it would be and how much weight it would add to your aircraft. The easier is probably to move the GPS module away.

@DeltaVelocity101 I'm using M8N modules. You should try to reset your GPS settings to the factory defaults by connecting it to a computer through a USB-Serial converter and using UBlox U-Center. There is a reset button on the right of the default toolbar layout.

DeltaVelocity101 commented 6 years ago

Thanks @shellixyz, although I thought U-Centre was defunct now?

shellixyz commented 6 years ago

I don't think it is: https://www.u-blox.com/en/product/u-center-windows

digitalentity commented 6 years ago

Most action cameras are known of emitting crazy amounts of RF noise that cripples UHF LRS systems and GPS. The cable between camera sensor and CPU board is usually the source of interference. I tested a number of cameras for interference and the only camera that had no apparent effect on GPS/LRS functionality was GoPro. All the rest affect GPS, sometimes to total inability to maintain a fix.

giacomo892 commented 6 years ago

@digitalentity consider the new GoPro have even integrated GPS so they should be well tested in that band

VoicOfReason commented 6 years ago

Update: seems my RunCam split was preventing GPS from working. So, I dont see any reason RC4 is the problem anymore. I took Off the Split and problem vanished. Not sure what to do about that problem.

On Sat, Jul 28, 2018 at 8:07 AM giacomo892 notifications@github.com wrote:

@digitalentity https://github.com/digitalentity consider the new GoPro have even integrated GPS so they should be well tested in that band

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shellixyz commented 6 years ago

I'm using Firefly Q6 cameras and I don't get any GPS or RC link issue with them.

bokie1 commented 6 years ago

I have the same issue. After upgrade to rc4 on omnibus f4v3, I can't get any satellites. On 1.9.1, I get 8-11 sats with no issues.

digitalentity commented 6 years ago

I'm closing this issue as GPS sats problem is clearly not firmware-related but induced by Runcam Split EMI noise.

bokie1 commented 6 years ago

Sadly I'm not using runcam split.

digitalentity commented 6 years ago

@bokie1 please be more speific about "can't get any satellites".

Which GPS are you using? Which UART is it connected? Which protocol? Is GPS detected by INAV? How are you observing zero satellites - Configurator/OSD/telemetry?

bokie1 commented 6 years ago

Which GPS are you using? - BN-220 Which UART is it connected? - UART3 Which protocol? - Ublox Is GPS detected by INAV? - Yes How are you observing zero satellites - Configurator/OSD/telemetry? - All 3.

Everything was was working in 1.9.1.

digitalentity commented 6 years ago

@bokie1 can you provide config dump of non-working setup please.

bokie1 commented 6 years ago

@digitalentity

Here it is:

dump

version

INAV/OMNIBUSF4V3 2.0.0 Jul 14 2018 / 22:40:49 (f2cf315ad)

resources

mixer

mmix reset

mmix 0 1.000 0.000 0.000 0.000 mmix 1 1.000 0.000 0.000 0.000

servo mix

smix reset

smix 0 0 0 100 0 smix 1 1 0 100 0 smix 2 0 1 100 0 smix 3 1 1 -100 0 smix 4 2 6 100 0 smix 5 3 11 100 0

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

feature

feature -THR_VBAT_COMP feature -VBAT feature -TX_PROF_SEL feature -BAT_PROF_AUTOSWITCH feature -MOTOR_STOP feature -SOFTSERIAL feature -GPS feature -TELEMETRY feature -CURRENT_METER feature -3D feature -RX_PARALLEL_PWM feature -RX_MSP feature -RSSI_ADC feature -LED_STRIP feature -DASHBOARD feature -BLACKBOX feature -TRANSPONDER feature -AIRMODE feature -SUPEREXPO feature -VTX feature -RX_SPI feature -PWM_SERVO_DRIVER feature -PWM_OUTPUT_ENABLE feature -OSD feature -FW_LAUNCH feature -TRACE feature VBAT feature TX_PROF_SEL feature MOTOR_STOP feature GPS feature TELEMETRY feature CURRENT_METER 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 CAM_CONNECTION_OPEN beeper CAM_CONNECTION_CLOSED

map

map AETR

serial

serial 20 1 115200 38400 0 115200 serial 0 32 115200 38400 0 115200 serial 2 2 115200 38400 0 115200 serial 5 64 115200 38400 0 115200

led

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

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

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 0 mode_color 6 9 0 mode_color 6 10 0

aux

aux 0 0 0 1350 2075 aux 1 1 1 1850 2100 aux 2 2 1 1375 1600 aux 3 3 4 1700 2100 aux 4 9 4 1300 1700 aux 5 8 2 1350 1675 aux 6 10 6 1875 2100 aux 7 14 6 1400 1625 aux 8 27 5 1300 1700 aux 9 28 5 1700 2100 aux 10 11 2 1375 1625 aux 11 15 3 1275 1675 aux 12 18 2 1875 2100 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

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

rxrange

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

osd_layout

osd_layout 0 0 24 2 V osd_layout 0 1 8 11 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 20 0 V osd_layout 0 8 1 0 V osd_layout 0 9 22 4 V osd_layout 0 10 8 6 H osd_layout 0 11 15 11 V osd_layout 0 12 1 4 H osd_layout 0 13 2 6 V osd_layout 0 14 23 3 V osd_layout 0 15 23 6 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 16 1 V osd_layout 0 21 1 1 V osd_layout 0 22 14 3 V osd_layout 0 23 1 2 V osd_layout 0 24 10 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 22 11 V osd_layout 0 29 23 12 H osd_layout 0 30 1 12 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 10 2 V 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 3 V 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 V osd_layout 0 45 0 0 V 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 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 12 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 1 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 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 12 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 1 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 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 12 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 1 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

master

set looptime = 2000 set gyro_sync = ON set align_gyro = DEFAULT set gyro_hardware_lpf = 20HZ set gyro_lpf_hz = 60 set moron_threshold = 32 set gyro_notch1_hz = 0 set gyro_notch1_cutoff = 1 set gyro_notch2_hz = 0 set gyro_notch2_cutoff = 1 set gyro_stage2_lowpass_hz = 0 set vbat_adc_channel = 2 set rssi_adc_channel = 3 set current_adc_channel = 1 set airspeed_adc_channel = 0 set acc_notch_hz = 0 set acc_notch_cutoff = 1 set align_acc = DEFAULT set acc_hardware = MPU6000 set acc_lpf_hz = 15 set acczero_x = 71 set acczero_y = -25 set acczero_z = -201 set accgain_x = 4083 set accgain_y = 4069 set accgain_z = 4032 set rangefinder_hardware = NONE set rangefinder_median_filter = OFF set opflow_hardware = NONE set opflow_scale = 1.000 set align_opflow = CW0FLIP set align_mag = DEFAULT set mag_hardware = NONE set mag_declination = -550 set magzero_x = 0 set magzero_y = 0 set magzero_z = 0 set mag_calibration_time = 30 set align_mag_roll = 0 set align_mag_pitch = 0 set align_mag_yaw = 0 set baro_hardware = BMP280 set baro_median_filter = ON set pitot_hardware = NONE set pitot_use_median_filter = ON set pitot_noise_lpf = 0.600 set pitot_scale = 1.000 set receiver_type = SERIAL set min_check = 1100 set max_check = 1900 set rssi_channel = 16 set rssi_scale = 100 set rssi_invert = OFF set sbus_sync_interval = 3000 set rc_smoothing = ON set serialrx_provider = SBUS set serialrx_inverted = OFF set rx_spi_rf_channel_count = 0 set spektrum_sat_bind = 0 set rx_min_usec = 885 set rx_max_usec = 2115 set serialrx_halfduplex = OFF set blackbox_rate_num = 1 set blackbox_rate_denom = 1 set blackbox_device = SDCARD set sdcard_detect_inverted = ON set min_throttle = 1000 set max_throttle = 2000 set min_command = 1000 set motor_pwm_rate = 2000 set motor_accel_time = 0 set motor_decel_time = 0 set motor_pwm_protocol = MULTISHOT set failsafe_delay = 5 set failsafe_recovery_delay = 5 set failsafe_off_delay = 200 set failsafe_throttle = 1000 set failsafe_throttle_low_delay = 0 set failsafe_procedure = RTH 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 align_board_roll = 0 set align_board_pitch = 50 set align_board_yaw = 0 set vbat_scale = 1110 set current_meter_scale = 423 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 yaw_motor_direction = 1 set yaw_jump_prevention_limit = 200 set platform_type = AIRPLANE set has_flaps = OFF set model_preview_type = 8 set fw_min_throttle_down_pitch = 0 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 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 reboot_character = 82 set imu_dcm_kp = 2500 set imu_dcm_ki = 50 set imu_dcm_kp_mag = 10000 set imu_dcm_ki_mag = 0 set small_angle = 180 set fixed_wing_auto_arm = OFF set disarm_kill_switch = ON set auto_disarm_delay = 30 set switch_disarm_delay = 250 set gps_provider = UBLOX set gps_sbas_mode = WAAS set gps_dyn_model = AIR_1G set gps_auto_config = ON set gps_auto_baud = ON set gps_ublox_use_galileo = OFF set gps_min_sats = 6 set deadband = 8 set yaw_deadband = 8 set pos_hold_deadband = 20 set alt_hold_deadband = 50 set 3d_deadband_throttle = 50 set fw_autotune_overshoot_time = 100 set fw_autotune_undershoot_time = 200 set fw_autotune_threshold = 50 set fw_autotune_ff_to_p_gain = 10 set fw_autotune_ff_to_i_tc = 600 set inav_auto_mag_decl = ON set inav_gravity_cal_tolerance = 5 set inav_use_gps_velned = ON set inav_allow_dead_reckoning = OFF set inav_reset_altitude = FIRST_ARM set inav_reset_home = EACH_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 = OFF set nav_use_midthr_for_althold = OFF set nav_extra_arming_safety = ON set nav_user_control_mode = ATTI set nav_position_timeout = 5 set nav_wp_radius = 100 set nav_wp_safe_distance = 10000 set nav_auto_speed = 300 set nav_auto_climb_rate = 500 set nav_manual_speed = 500 set nav_manual_climb_rate = 200 set nav_landing_speed = 200 set nav_land_slowdown_minalt = 500 set nav_land_slowdown_maxalt = 2000 set nav_emerg_landing_speed = 500 set nav_min_rth_distance = 5000 set nav_rth_climb_first = OFF set nav_rth_climb_ignore_emerg = OFF set nav_rth_tail_first = OFF set nav_rth_allow_landing = NEVER set nav_rth_alt_mode = AT_LEAST set nav_rth_abort_threshold = 50000 set nav_max_terrain_follow_alt = 100 set nav_rth_altitude = 6000 set nav_rth_home_altitude = 0 set nav_mc_bank_angle = 30 set nav_mc_hover_thr = 1500 set nav_mc_auto_disarm_delay = 2000 set nav_fw_cruise_thr = 1400 set nav_fw_min_thr = 1200 set nav_fw_max_thr = 1700 set nav_fw_bank_angle = 30 set nav_fw_climb_angle = 20 set nav_fw_dive_angle = 15 set nav_fw_pitch2thr = 10 set nav_fw_loiter_radius = 4000 set nav_fw_cruise_speed = 0 set nav_fw_land_dive_angle = 2 set nav_fw_launch_velocity = 100 set nav_fw_launch_accel = 1500 set nav_fw_launch_max_angle = 40 set nav_fw_launch_detect_time = 30 set nav_fw_launch_thr = 1900 set nav_fw_launch_idle_thr = 1000 set nav_fw_launch_motor_delay = 300 set nav_fw_launch_spinup_time = 500 set nav_fw_launch_min_time = 10000 set nav_fw_launch_timeout = 10000 set nav_fw_launch_max_altitude = 0 set nav_fw_launch_climb_angle = 22 set nav_fw_cruise_yaw_rate = 20 set nav_fw_allow_manual_thr_increase = OFF set telemetry_switch = OFF set telemetry_inverted = OFF set frsky_default_latitude = 0.000 set frsky_default_longitude = 0.000 set frsky_coordinates_format = 0 set frsky_unit = METRIC set frsky_vfas_precision = 0 set report_cell_voltage = OFF set hott_alarm_sound_interval = 5 set smartport_uart_unidir = OFF set smartport_fuel_unit = PERCENT set ibus_telemetry_type = 0 set ltm_update_rate = NORMAL set ledstrip_visual_beeper = OFF set osd_video_system = NTSC set osd_row_shiftdown = 0 set osd_units = METRIC set osd_stats_energy_unit = MAH set osd_rssi_alarm = 35 set osd_time_alarm = 20 set osd_alt_alarm = 1000 set osd_dist_alarm = 10000 set osd_neg_alt_alarm = 25 set osd_artificial_horizon_reverse_roll = OFF set osd_crosshairs_style = AIRCRAFT set osd_left_sidebar_scroll = GROUND_SPEED set osd_right_sidebar_scroll = ALTITUDE set osd_sidebar_scroll_arrows = ON set osd_main_voltage_decimals = 1 set osd_coordinate_digits = 10 set osd_estimations_wind_compensation = ON set i2c_speed = 400KHZ set debug_mode = NONE set acc_task_frequency = 500 set attitude_task_frequency = 250 set async_mode = NONE set throttle_tilt_comp_str = 0 set input_filtering_mode = OFF set name = bokie_s800v2_2 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_band = 4 set vtx_channel = 1 set vtx_power = 1 set vtx_low_power_disarm = OFF set vtx_freq = 5740 set vtx_pit_mode_freq = 0

profile

profile 1

set mc_p_pitch = 40 set mc_i_pitch = 30 set mc_d_pitch = 23 set mc_p_roll = 40 set mc_i_roll = 30 set mc_d_roll = 23 set mc_p_yaw = 85 set mc_i_yaw = 45 set mc_d_yaw = 0 set mc_p_level = 20 set mc_i_level = 15 set mc_d_level = 75 set fw_p_pitch = 2 set fw_i_pitch = 11 set fw_ff_pitch = 50 set fw_p_roll = 2 set fw_i_roll = 4 set fw_ff_roll = 38 set fw_p_yaw = 50 set fw_i_yaw = 45 set fw_ff_yaw = 0 set fw_p_level = 10 set fw_i_level = 15 set fw_d_level = 75 set max_angle_inclination_rll = 650 set max_angle_inclination_pit = 650 set dterm_lpf_hz = 40 set yaw_lpf_hz = 30 set dterm_setpoint_weight = 1.000 set fw_iterm_throw_limit = 165 set fw_reference_airspeed = 1000.000 set fw_turn_assist_yaw_gain = 1.000 set dterm_notch_hz = 0 set dterm_notch_cutoff = 1 set pidsum_limit = 500 set yaw_p_limit = 300 set iterm_windup = 50 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_pos_z_i = 0 set nav_mc_pos_z_d = 0 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_pos_xy_i = 120 set nav_mc_pos_xy_d = 10 set nav_mc_vel_xy_p = 180 set nav_mc_vel_xy_i = 15 set nav_mc_vel_xy_d = 100 set nav_mc_heading_p = 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 thr_mid = 50 set thr_expo = 0 set tpa_rate = 33 set tpa_breakpoint = 1300 set fw_tpa_time_constant = 0 set rc_expo = 75 set rc_yaw_expo = 25 set roll_rate = 25 set pitch_rate = 25 set yaw_rate = 20 set manual_rc_expo = 75 set manual_rc_yaw_expo = 30 set manual_roll_rate = 100 set manual_pitch_rate = 100 set manual_yaw_rate = 100

battery_profile

battery_profile 1

set bat_cells = 0 set vbat_cell_detect_voltage = 430 set vbat_max_cell_voltage = 420 set vbat_min_cell_voltage = 330 set vbat_warning_cell_voltage = 350 set battery_capacity = 2200 set battery_capacity_warning = 880 set battery_capacity_critical = 440 set battery_capacity_unit = MAH