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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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FIREWORKS V2 doesn't support MPU6500 IMU #5710

Closed Ex4nder closed 4 years ago

Ex4nder commented 4 years ago

Current Behavior

The Imu don't work

Steps to Reproduce

Just flash the firmware

Expected behavior

MPU6500 should be detected and work, but it's not.

Suggested solution(s)

I tried to check the target.h, but the resources are correct, but still no go.

Additional context

in betaflight it works perfectly

AIRBOT OMNIBUS F4 FIREWORKS V2

version

INAV/FIREWORKSV2 2.5.0 May 9 2020 / 14:48:35 (272de567d)

GCC-9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599]

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

version

INAV/FIREWORKSV2 2.5.0 May 9 2020 / 14:48:35 (272de567d)

GCC-9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599]

dump all

version

INAV/FIREWORKSV2 2.5.0 May 9 2020 / 14:48:35 (272de567d)

GCC-9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599]

start the command batch

batch start

resources

mixer

mmix reset

servo mix

smix reset

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

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

gvar

gvar 0 0 -32768 32767 gvar 1 0 -32768 32767 gvar 2 0 -32768 32767 gvar 3 0 -32768 32767

gf

gf 0 0 -1 0 0 0 0 gf 1 0 -1 0 0 0 0 gf 2 0 -1 0 0 0 0 gf 3 0 -1 0 0 0 0 gf 4 0 -1 0 0 0 0 gf 5 0 -1 0 0 0 0 gf 6 0 -1 0 0 0 0 gf 7 0 -1 0 0 0 0

feature

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 VBAT feature TX_PROF_SEL feature SOFTSERIAL feature GPS feature TELEMETRY feature CURRENT_METER feature BLACKBOX feature AIRMODE 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 115200 0 115200 serial 0 64 115200 115200 0 115200 serial 1 0 115200 115200 0 115200 serial 2 0 115200 115200 0 115200 serial 3 2048 115200 115200 0 115200 serial 5 2 115200 115200 0 115200 serial 30 32 115200 115200 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 0 900 900 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

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

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

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

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 V osd_layout 0 4 8 6 V 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 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 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 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

master

set looptime = 500 set gyro_sync = OFF set align_gyro = DEFAULT set gyro_hardware_lpf = 256HZ set gyro_lpf_hz = 110 set gyro_lpf_type = PT1 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 gyro_stage2_lowpass_type = BIQUAD set dynamic_gyro_notch_enabled = ON set dynamic_gyro_notch_range = MEDIUM set dynamic_gyro_notch_q = 250 set dynamic_gyro_notch_min_hz = 120 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 = NONE set acc_lpf_hz = 15 set acc_lpf_type = BIQUAD set acczero_x = 0 set acczero_y = 0 set acczero_z = 0 set accgain_x = 4096 set accgain_y = 4096 set accgain_z = 4096 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 = DEFAULT set mag_hardware = QMC5883 set mag_declination = 0 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 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_frequency = 50 set serialrx_provider = SBUS set serialrx_inverted = OFF set rx_spi_rf_channel_count = 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 = SPIFLASH set max_throttle = 1850 set min_command = 1000 set motor_pwm_rate = 400 set motor_accel_time = 0 set motor_decel_time = 0 set motor_pwm_protocol = STANDARD set throttle_scale = 1.000 set throttle_idle = 15.000 set motor_poles = 14 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 = SET-THR 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 = ON 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 = 175 set current_meter_offset = 326 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 motor_direction_inverted = OFF set platform_type = MULTIROTOR set has_flaps = OFF set model_preview_type = -1 set fw_min_throttle_down_pitch = 0 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 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 = 25 set imu_acc_ignore_rate = 0 set imu_acc_ignore_slope = 0 set fixed_wing_auto_arm = OFF set disarm_kill_switch = ON set switch_disarm_delay = 250 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 = AUTO 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 = 5 set yaw_deadband = 5 set pos_hold_deadband = 10 set alt_hold_deadband = 50 set 3d_deadband_throttle = 50 set mc_airmode_type = THROTTLE_THRESHOLD set mc_airmode_threshold = 1300 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 = 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_xyz_acc_p = 1.000 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 = 500 set nav_overrides_motor_stop = ON set nav_rth_climb_first = ON set nav_rth_climb_ignore_emerg = OFF set nav_rth_tail_first = OFF set nav_rth_allow_landing = ALWAYS set nav_rth_alt_mode = AT_LEAST set nav_rth_abort_threshold = 50000 set nav_max_terrain_follow_alt = 100 set nav_rth_altitude = 1000 set nav_rth_home_altitude = 0 set nav_rth_home_offset_distance = 0 set nav_rth_home_offset_direction = 0 set nav_mc_bank_angle = 30 set nav_mc_hover_thr = 1500 set nav_mc_auto_disarm_delay = 2000 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_fw_cruise_thr = 1400 set nav_fw_min_thr = 1200 set nav_fw_max_thr = 1700 set nav_fw_bank_angle = 35 set nav_fw_climb_angle = 20 set nav_fw_dive_angle = 15 set nav_fw_pitch2thr = 10 set nav_fw_loiter_radius = 5000 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_thr = 1700 set nav_fw_launch_idle_thr = 1000 set nav_fw_launch_motor_delay = 500 set nav_fw_launch_spinup_time = 100 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_cruise_yaw_rate = 20 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_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 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 = f set acc_event_threshold_high = 0 set acc_event_threshold_low = 0 set acc_event_threshold_neg_x = 0 set sim_low_altitude = -32768 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 ledstrip_visual_beeper = OFF set osd_video_system = AUTO set osd_row_shiftdown = 0 set osd_units = METRIC set osd_stats_energy_unit = MAH 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_temp_label_align = LEFT set osd_artificial_horizon_reverse_roll = OFF set osd_artificial_horizon_max_pitch = 20 set osd_crosshairs_style = DEFAULT set osd_horizon_offset = 0 set osd_camera_uptilt = 0 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_nearest = 0 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_ahi_style = DEFAULT set i2c_speed = 800KHZ set debug_mode = NONE set throttle_tilt_comp_str = 0 set 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_band = 4 set vtx_channel = 1 set vtx_power = 1 set vtx_low_power_disarm = OFF set vtx_pit_mode_chan = 1 set log_level = ERROR set log_topics = 0 set esc_sensor_listen_only = OFF

profile

profile 1

set mc_p_pitch = 44 set mc_i_pitch = 75 set mc_d_pitch = 28 set mc_p_roll = 40 set mc_i_roll = 60 set mc_d_roll = 28 set mc_p_yaw = 35 set mc_i_yaw = 80 set mc_d_yaw = 0 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_ff_pitch = 50 set fw_p_roll = 5 set fw_i_roll = 7 set fw_ff_roll = 50 set fw_p_yaw = 6 set fw_i_yaw = 10 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 = PT1 set dterm_lpf2_hz = 170 set dterm_lpf2_type = PT1 set use_dterm_fir_filter = OFF set yaw_lpf_hz = 0 set dterm_setpoint_weight = 0.750 set fw_iterm_throw_limit = 165 set fw_loiter_direction = RIGHT set fw_reference_airspeed = 1000.000 set fw_turn_assist_yaw_gain = 1.000 set fw_iterm_limit_stick_position = 0.500 set dterm_notch_hz = 0 set dterm_notch_cutoff = 1 set pidsum_limit = 500 set pidsum_limit_yaw = 350 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_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_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_type = SETPOINT set mc_iterm_relax = RP set mc_iterm_relax_cutoff = 15 set d_boost_factor = 1.500 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 thr_mid = 50 set thr_expo = 0 set tpa_rate = 0 set tpa_breakpoint = 1500 set fw_tpa_time_constant = 0 set rc_expo = 70 set rc_yaw_expo = 70 set roll_rate = 70 set pitch_rate = 70 set yaw_rate = 60 set manual_rc_expo = 70 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

profile

profile 2

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 = 5 set fw_i_pitch = 7 set fw_ff_pitch = 50 set fw_p_roll = 5 set fw_i_roll = 7 set fw_ff_roll = 50 set fw_p_yaw = 6 set fw_i_yaw = 10 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 = 40 set dterm_lpf_type = BIQUAD set dterm_lpf2_hz = 0 set dterm_lpf2_type = BIQUAD set use_dterm_fir_filter = ON set yaw_lpf_hz = 0 set dterm_setpoint_weight = 1.000 set fw_iterm_throw_limit = 165 set fw_loiter_direction = RIGHT set fw_reference_airspeed = 1000.000 set fw_turn_assist_yaw_gain = 1.000 set fw_iterm_limit_stick_position = 0.500 set dterm_notch_hz = 0 set dterm_notch_cutoff = 1 set pidsum_limit = 500 set pidsum_limit_yaw = 350 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_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_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_type = SETPOINT set mc_iterm_relax = RP set mc_iterm_relax_cutoff = 15 set d_boost_factor = 1.250 set d_boost_max_at_acceleration = 7500.000 set d_boost_gyro_delta_lpf_hz = 80 set antigravity_gain = 1.000 set antigravity_accelerator = 1.000 set antigravity_cutoff_lpf_hz = 15 set pid_type = AUTO set thr_mid = 50 set thr_expo = 0 set tpa_rate = 0 set tpa_breakpoint = 1500 set fw_tpa_time_constant = 0 set rc_expo = 70 set rc_yaw_expo = 20 set roll_rate = 20 set pitch_rate = 20 set yaw_rate = 20 set manual_rc_expo = 70 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

profile

profile 3

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 = 5 set fw_i_pitch = 7 set fw_ff_pitch = 50 set fw_p_roll = 5 set fw_i_roll = 7 set fw_ff_roll = 50 set fw_p_yaw = 6 set fw_i_yaw = 10 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 = 40 set dterm_lpf_type = BIQUAD set dterm_lpf2_hz = 0 set dterm_lpf2_type = BIQUAD set use_dterm_fir_filter = ON set yaw_lpf_hz = 0 set dterm_setpoint_weight = 1.000 set fw_iterm_throw_limit = 165 set fw_loiter_direction = RIGHT set fw_reference_airspeed = 1000.000 set fw_turn_assist_yaw_gain = 1.000 set fw_iterm_limit_stick_position = 0.500 set dterm_notch_hz = 0 set dterm_notch_cutoff = 1 set pidsum_limit = 500 set pidsum_limit_yaw = 350 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_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_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_type = SETPOINT set mc_iterm_relax = RP set mc_iterm_relax_cutoff = 15 set d_boost_factor = 1.250 set d_boost_max_at_acceleration = 7500.000 set d_boost_gyro_delta_lpf_hz = 80 set antigravity_gain = 1.000 set antigravity_accelerator = 1.000 set antigravity_cutoff_lpf_hz = 15 set pid_type = AUTO set thr_mid = 50 set thr_expo = 0 set tpa_rate = 0 set tpa_breakpoint = 1500 set fw_tpa_time_constant = 0 set rc_expo = 70 set rc_yaw_expo = 20 set roll_rate = 20 set pitch_rate = 20 set yaw_rate = 20 set manual_rc_expo = 70 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

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 = 0 set battery_capacity_warning = 0 set battery_capacity_critical = 0 set battery_capacity_unit = MAH

battery_profile

battery_profile 2

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 = 0 set battery_capacity_warning = 0 set battery_capacity_critical = 0 set battery_capacity_unit = MAH

battery_profile

battery_profile 3

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 = 0 set battery_capacity_warning = 0 set battery_capacity_critical = 0 set battery_capacity_unit = MAH

restore original profile selection

profile 1 battery_profile 1

save configuration

save

digitalentity commented 4 years ago

So we understand correctly: the board doesn't detect gyro, correct?

Ex4nder commented 4 years ago

exactly, it's not detected, red on the first boot, and then hardware goes to "none"

digitalentity commented 4 years ago

Can you also post an output of "status" command?

Ex4nder commented 4 years ago

Hi, not now, but no errors on the status, since after the first boot it goes to NONE. Should I set Gyro hardware to MPU6500 and reboot and then print the status?

digitalentity commented 4 years ago

Do a flash with full erase, go to CLI, execute "status" and post the output here. Thanks!

Ex4nder commented 4 years ago

I guess after reconfiguring back the gyro as MPU6500, so first boot I will chose "mini quad", reset, choose gyro again, and then execute status

digitalentity commented 4 years ago

Please don't modify any settings manually.

I don;t have that board here and I'm trying to figure out what's going on here and for that I need to understand exactly at what step it breaks.

Ex4nder commented 4 years ago

If you want, this evening after work we can make a teamwiever session, so you can see live, I've a linux machine, not so fast, to recompile and try.

digitalentity commented 4 years ago

I think it would be better if we continue on Github so other developers could contribute to troubleshooting this as well.

So, the steps to do to continue:

  1. Flash INAV 2.5 with full erase
  2. On first connection Configurator will ask for preset. Chose "Keep current settings"
  3. Go to CLI and execute "status"

Thanks.

Ex4nder commented 4 years ago

perfect, this evening I will report

Ex4nder commented 4 years ago

Status of betaflight

status

MCU F40X Clock=168MHz (PLLP-HSE), Vref=3.29V, Core temp=25degC Stack size: 2048, Stack address: 0x1000fff0 Config size: 3960, Max available config: 16384 Gyros detected: gyro 1 GYRO=MPU6000, ACC=MPU6000, BARO=BMP280, MAG=QMC5883 OSD: MAX7456 System Uptime: 125 seconds, Current Time: 2020-05-11T17:28:37.352+00:00 CPU:12%, cycle time: 125, GYRO rate: 8000, RX rate: 33, System rate: 10 Voltage: 44 * 0.01V (0S battery - NOT PRESENT) I2C Errors: 0 SD card: Not configured Arming disable flags: RXLOSS ANGLE CLI MSP

Status of Inav (but after choosing keep current settings it rebooted) status System Uptime: 24 seconds Current Time: 2041-06-28T01:04:00.000+00:00 Voltage: 0.31V (1S battery - NOT PRESENT) CPU Clock=168MHz, BARO=BMP280, MAG=QMC5883 STM32 system clocks: SYSCLK = 168 MHz HCLK = 168 MHz PCLK1 = 42 MHz PCLK2 = 84 MHz Sensor status: GYRO=UNAVAILABLE, ACC=NONE, MAG=OK, BARO=OK, RANGEFINDER=NONE, OPFLOW=NONE, GPS=NONE Stack size: 6144, Stack address: 0x10010000, Heap available: 1948 I2C Errors: 0, config size: 5803, max available config: 131072 ADC channel usage: BATTERY : configured = ADC 2, used = ADC 2 RSSI : configured = ADC 3, used = none CURRENT : configured = ADC 1, used = ADC 1 AIRSPEED : configured = none, used = none System load: 8, cycle time: 102, PID rate: 9803, RX rate: 49, System rate: 9 Arming disabled flags: ANGLE CAL COMPASS HWFAIL RX CLI VTX: not detected

After selecting mpu6000 and rebooting again:

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

status

System Uptime: 24 seconds Current Time: 2041-06-28T01:04:00.000+00:00 Voltage: 0.31V (1S battery - NOT PRESENT) CPU Clock=168MHz, BARO=BMP280, MAG=QMC5883 STM32 system clocks: SYSCLK = 168 MHz HCLK = 168 MHz PCLK1 = 42 MHz PCLK2 = 84 MHz Sensor status: GYRO=UNAVAILABLE, ACC=UNAVAILABLE, MAG=OK, BARO=OK, RANGEFINDER=NONE, OPFLOW=NONE, GPS=NONE Stack size: 6144, Stack address: 0x10010000, Heap available: 1948 I2C Errors: 0, config size: 5803, max available config: 131072 ADC channel usage: BATTERY : configured = ADC 2, used = ADC 2 RSSI : configured = ADC 3, used = none CURRENT : configured = ADC 1, used = ADC 1 AIRSPEED : configured = none, used = none System load: 9, cycle time: 101, PID rate: 9900, RX rate: 49, System rate: 9 Arming disabled flags: ANGLE CAL COMPASS HWFAIL RX CLI VTX: not detected

after select mpu6500 and rebooting again...

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

status

System Uptime: 20 seconds Current Time: 2041-06-28T01:04:00.000+00:00 Voltage: 0.31V (1S battery - NOT PRESENT) CPU Clock=168MHz, BARO=BMP280, MAG=QMC5883 STM32 system clocks: SYSCLK = 168 MHz HCLK = 168 MHz PCLK1 = 42 MHz PCLK2 = 84 MHz Sensor status: GYRO=UNAVAILABLE, ACC=UNAVAILABLE, MAG=OK, BARO=OK, RANGEFINDER=NONE, OPFLOW=NONE, GPS=NONE Stack size: 6144, Stack address: 0x10010000, Heap available: 1948 I2C Errors: 0, config size: 5803, max available config: 131072 ADC channel usage: BATTERY : configured = ADC 2, used = ADC 2 RSSI : configured = ADC 3, used = none CURRENT : configured = ADC 1, used = ADC 1 AIRSPEED : configured = none, used = none System load: 8, cycle time: 100, PID rate: 10000, RX rate: 49, System rate: 9 Arming disabled flags: ANGLE CAL COMPASS HWFAIL RX CLI VTX: not detected

and for your refererence

resource

IO:

A00: FREE A01: FREE A02: FREE A03: FREE A04: SPI_PREINIT CS A05: SPI1 SCK A06: SPI1 MISO A07: SPI1 MOSI A08: LED1 OUT A09: SOFTSERIAL1 UART TX/RX A10: SERIAL1 UART RX A11: USB IN A12: USB OUT A13: FREE A14: FREE A15: OSD CS B00: FREE B01: FREE B02: FREE B03: BARO CS B04: BEEPER OUT B05: FREE B06: FREE B07: FREE B08: FREE B09: FREE B10: I2C2 SCL B11: I2C2 SDA B12: FLASH CS B13: SPI2 SCK B14: SPI2 MISO B15: SPI2 MOSI C00: FREE C01: ADC CH1 C02: ADC CH2 C03: FREE C04: FREE C05: FREE C06: FREE C07: FREE C08: FREE C09: FREE C10: SPI3 SCK C11: SPI3 MISO C12: SPI3 MOSI C13: FREE C14: FREE C15: FREE D00: FREE D01: FREE D02: SPI_PREINIT CS D03: FREE D04: FREE D05: FREE D06: FREE D07: FREE D08: FREE D09: FREE D10: FREE D11: FREE D12: FREE D13: FREE D14: FREE D15: FREE

digitalentity commented 4 years ago

I've found a FIREWORKSV2 board in my FC box and interestingly, after erasing and flashing, it works:

# version
# INAV/FIREWORKSV2 2.5.0 May 11 2020 / 20:58:34 (2a9058b5f)
# GCC-9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599]

# status
System Uptime: 58 seconds
Current Time: 2041-06-28T01:04:00.000+00:00
Voltage: 0.34V (1S battery - NOT PRESENT)
CPU Clock=168MHz, GYRO=MPU6500, ACC=MPU6500, BARO=BMP280
STM32 system clocks:
  SYSCLK = 168 MHz
  HCLK   = 168 MHz
  PCLK1  = 42 MHz
  PCLK2  = 84 MHz
Sensor status: GYRO=OK, ACC=OK, MAG=NONE, BARO=OK, RANGEFINDER=NONE, OPFLOW=NONE, GPS=NONE
Stack size: 6144, Stack address: 0x10010000, Heap available: 1928
I2C Errors: 0, config size: 5803, max available config: 131072
ADC channel usage:
   BATTERY : configured = ADC 2, used = ADC 2
      RSSI : configured = ADC 3, used = none
   CURRENT : configured = ADC 1, used = ADC 1
  AIRSPEED : configured = none, used = none
System load: 2, cycle time: 1002, PID rate: 998, RX rate: 49, System rate: 9
Arming disabled flags: ACC RX CLI
VTX: not detected

However, it detects MPU6500 gyro, not MPU6000 as on your board. It's possible that your board has a different IMU chip, in which case it's "correctly" not detecting it as it expects MPU6500 on that SPI bus device slot.

Seems easily fixable

Ex4nder commented 4 years ago

What do you suggest? Add use imu mpu6000 in the target.h?

digitalentity commented 4 years ago

Try this build: inav_2.5.0_FIREWORKSV2.zip

It enabled detection of both MPU6000 and MPU6500 on both SPI bus device slots. Note that you may have to try changing gyro_to_use setting in CLI to check the second slot.

Ex4nder commented 4 years ago

image

status

System Uptime: 34 seconds Current Time: 2041-06-28T01:04:00.000+00:00 Voltage: 0.31V (1S battery - NOT PRESENT) CPU Clock=168MHz, GYRO=MPU6000, ACC=MPU6000, BARO=BMP280, MAG=QMC5883 STM32 system clocks: SYSCLK = 168 MHz HCLK = 168 MHz PCLK1 = 42 MHz PCLK2 = 84 MHz Sensor status: GYRO=OK, ACC=OK, MAG=OK, BARO=OK, RANGEFINDER=NONE, OPFLOW=NONE, GPS=NONE Stack size: 6144, Stack address: 0x10010000, Heap available: 1928 I2C Errors: 0, config size: 5803, max available config: 131072 ADC channel usage: BATTERY : configured = ADC 2, used = ADC 2 RSSI : configured = ADC 3, used = none CURRENT : configured = ADC 1, used = ADC 1 AIRSPEED : configured = none, used = none System load: 2, cycle time: 501, PID rate: 1996, RX rate: 49, System rate: 9 Arming disabled flags: ANGLE COMPASS ACC RX CLI VTX: not detected

TOP!, can you post the difference to the target file to understand how to do? thank you!

digitalentity commented 4 years ago

Awesome, the change #5717 is ready to be merged, you can have a look at that PR to understand what changed.