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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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TBS Crossfire Telemetry Sensors Problem in INav #6931

Closed hprompt closed 3 years ago

hprompt commented 3 years ago

Hi There, First off, thanks for all the Great work that you all do.

I have an issue with the TBS Crossfire Full TX & Diversity Nano v2.0 RX with Inav version 2.61. I’m currently using a HolyBro Kakute F7 V1.5 FC , the CRSF nano RX's TX & RX are connected to UART6 per the manual. My Taranis X9d+ discovered only 10 sensors at first, which are:1RSS,2RSS,RQly,RSNR,ANT,RFMD,TPWR,TRSS,TQly,TSNR. On the Nano RX I turned on the “RX Batt Sensor” then deleted all sensors and discovered 4 new ones, which are: RxBt,Curr,Capa,Bat_. So now I get a total of 14 sensors. I also have a Beltian BN-880 GPS connected to UART3. I’m missing the following sensors: FM,GPS,GSPD,Hdg,Alt,Sats,VSpd,Ptch Roll,Yaw.

I’m referencing the following closed issue for my issue. TBS Crossfire Telemetry Sensors Problem #5877

Thanks in advance

Hayward

hprompt commented 3 years ago

how do I label this as a question and get it assigned

marcusmcelroy commented 3 years ago

Are you sure you have your CRSF RX wired to your UART TX correctly? I've had this problem before, and it turned out to be because there was a poor connection between NanoRX and FC. This meant that the flight controller wasn't transmitting telemetry to the NanoRX, but the NanoRX was sucessfully transmitting RC signals to the flight controller.

OptimusTi commented 3 years ago

I have the same setup as Hayward and I have no issues. All works out of the box.

marcusmcelroy commented 3 years ago

Same.. Which is why I was wondering if there is a wiring/ connection issue.

hprompt commented 3 years ago

thanks for the replies I will check today to verify the connections from the crossfire Diversity Nano v2.0 RX to the holybro kakute v1.5 FC

hprompt commented 3 years ago

I checked the connections: crossfire Diversity Nano v2.0 CH1 which is TX connects to UART6 on kakute F7 v1.5 R6 crossfire Diversity Nano v2.0 CH2 which is RX connects to UART6 on kakute F7 v1.5 T6

hprompt commented 3 years ago

I'm using the TBS Crossfire Diversity Nano RX v2.0 one thing that I noticed a difference between the diversity and the nano is when I run either the crossfire.lua or agent lite it shows the below.

TBS Crossfire nano RX shows: Output 1 Crsf tx Output 2 Crsf rx Output 3 Output 4 SmartAudio Output 5 BST SCL Output 6 BST SDA

Crossfire Diversity Nano RX only shows: Output 1 Crsf tx Output 2 Crsf rx Output 3 Output 4 Output 5 Output 6

OptimusTi commented 3 years ago

Same as my diversity nano and I don't have this issue. You could set the outputs like the regular nano but it's not going to matter.

Which version of openTx and crsf are you using?

crsf 4.11 & OTX 2.3.11-otx here

hprompt commented 3 years ago

same as you crsf 4.11 & OTX 2.3.11-otx what radio are you using? taranis x9d+ here

OptimusTi commented 3 years ago

Same. And now using RM TX16S

hprompt commented 3 years ago

so you get all 23 sensors on both x9d+ and RM TX16S radios? I have a betaflight 4.2.9 build using the same x9d+ radio and get all the sensors, I'm going to compare the DUMPs and DIFFs

OptimusTi commented 3 years ago

All 24 sensors on both radios, yes. Post a compress dump all from Inav.

hprompt commented 3 years ago

HolyBro Kakute F7 V1.5 FC with CRSF Diversity Nano connected UART6 Beltian BN-880 GPS connected to UART3, using 3.3V and the SDA/SCL on the Kakute F7

dump

version

INAV/KAKUTEF7 2.6.1 Feb 25 2021 / 10:28:17 (64249b1a)

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

start the command batch

batch start

resources

mixer

mmix reset

mmix 0 1.000 -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

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

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

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

gvar

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

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 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 CAM_CONNECTION_OPEN beeper CAM_CONNECTION_CLOSED

map

map AETR

serial

serial 20 1 115200 115200 0 115200 serial 0 2048 115200 115200 0 115200 serial 1 0 115200 115200 0 115200 serial 2 0 115200 115200 0 115200 serial 3 2 115200 115200 0 115200 serial 5 64 115200 115200 0 115200 serial 6 0 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 1300 aux 1 1 2 900 1300 aux 2 5 3 1700 2100 aux 3 3 3 1300 2100 aux 4 11 3 1700 2100 aux 5 10 2 1700 2100 aux 6 13 1 1700 2100 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 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

rxrange

rxrange 0 988 2011 rxrange 1 988 2011 rxrange 2 988 2011 rxrange 3 988 2011

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 26 2 V osd_layout 0 1 1 14 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 14 V osd_layout 0 8 20 2 H osd_layout 0 9 1 2 H osd_layout 0 10 21 14 V osd_layout 0 11 2 11 V osd_layout 0 12 1 12 V osd_layout 0 13 21 2 V osd_layout 0 14 24 10 V osd_layout 0 15 2 10 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 19 1 V osd_layout 0 21 1 1 V osd_layout 0 22 15 1 V osd_layout 0 23 1 2 V 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 13 V osd_layout 0 29 23 12 H osd_layout 0 30 1 15 V osd_layout 0 31 0 10 H osd_layout 0 32 1 13 V 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 9 V 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 28 14 V 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 24 12 H osd_layout 0 110 23 12 V osd_layout 0 111 25 9 H osd_layout 0 112 24 11 V 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 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 24 12 H osd_layout 1 110 24 11 H osd_layout 1 111 25 9 H osd_layout 1 112 25 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 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 24 12 H osd_layout 2 110 24 11 H osd_layout 2 111 25 9 H osd_layout 2 112 25 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 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 24 12 H osd_layout 3 110 24 11 H osd_layout 3 111 25 9 H osd_layout 3 112 25 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

master

set looptime = 500 set gyro_sync = ON set align_gyro = DEFAULT set gyro_hardware_lpf = 256HZ set gyro_lpf_hz = 100 set gyro_lpf_type = PT1 set moron_threshold = 32 set gyro_notch_hz = 0 set gyro_notch_cutoff = 1 set gyro_stage2_lowpass_hz = 160 set gyro_stage2_lowpass_type = PT1 set dynamic_gyro_notch_enabled = ON set dynamic_gyro_notch_range = MEDIUM set dynamic_gyro_notch_q = 200 set dynamic_gyro_notch_min_hz = 80 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 = 102 set acc_lpf_type = BIQUAD set acczero_x = 6 set acczero_y = -14 set acczero_z = -91 set accgain_x = 4080 set accgain_y = 4101 set accgain_z = 4064 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 = CW270FLIP set mag_hardware = HMC5883 set mag_declination = 0 set magzero_x = 57 set magzero_y = -133 set magzero_z = -57 set maggain_x = 498 set maggain_y = 493 set maggain_z = 444 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 = 1050 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 = CRSF set serialrx_inverted = OFF set rx_spi_rf_channel_count = 0 set srxl2_unit_id = 1 set srxl2_baud_fast = ON set rx_min_usec = 885 set rx_max_usec = 2115 set serialrx_halfduplex = OFF set blackbox_rate_num = 1 set blackbox_rate_denom = 4 set blackbox_device = SDCARD set sdcard_detect_inverted = ON set max_throttle = 1850 set min_command = 1000 set motor_pwm_rate = 16000 set motor_accel_time = 0 set motor_decel_time = 0 set motor_pwm_protocol = DSHOT600 set throttle_scale = 1.000 set throttle_idle = 12.000 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 = 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 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 = 400 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 motor_direction_inverted = OFF set platform_type = MULTIROTOR set has_flaps = OFF set model_preview_type = 3 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_use_gps_no_baro = OFF 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 = ALL_NAV 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_mc_bank_angle = 30 set nav_mc_hover_thr = 1280 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_pitch2thr_smoothing = 0 set nav_fw_pitch2thr_threshold = 0 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_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_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 = ON 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 = ON set hott_alarm_sound_interval = 5 set telemetry_halfduplex = OFF 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 mavlink_extra3_rate = 1 set ledstrip_visual_beeper = OFF set osd_video_system = AUTO set osd_row_shiftdown = 0 set osd_units = IMPERIAL 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_snr_alarm = 4 set osd_link_quality_alarm = 70 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_crsf_lq_format = TYPE1 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 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_home_position_arm_screen = ON set i2c_speed = 800KHZ set debug_mode = NONE set throttle_tilt_comp_str = 0 set name = Hprompt_FPV 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 = USA set display_force_sw_blink = OFF set vtx_halfduplex = ON set vtx_band = 5 set vtx_channel = 8 set vtx_power = 4 set vtx_low_power_disarm = ON set vtx_pit_mode_chan = 1 set vtx_max_power_override = 0 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

profile

profile 2

set mc_p_pitch = 44 set mc_i_pitch = 60 set mc_d_pitch = 25 set mc_cd_pitch = 60 set mc_p_roll = 40 set mc_i_roll = 50 set mc_d_roll = 25 set mc_cd_roll = 60 set mc_p_yaw = 45 set mc_i_yaw = 70 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_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 = 90 set dterm_lpf_type = PT1 set dterm_lpf2_hz = 0 set dterm_lpf2_type = PT1 set yaw_lpf_hz = 30 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_turn_assist_pitch_gain = 1.000 set fw_iterm_limit_stick_position = 0.500 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_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 = RPY set mc_iterm_relax_cutoff = 15 set d_boost_factor = 1.500 set d_boost_max_at_acceleration = 5000.000 set d_boost_gyro_delta_lpf_hz = 65 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 setpoint_kalman_enabled = OFF set setpoint_kalman_q = 100 set setpoint_kalman_w = 4 set setpoint_kalman_sharpness = 100 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

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

end the command batch

batch end

OptimusTi commented 3 years ago

Test serialrx_halfduplex = AUTO

Delete all sensors and rediscover.

That's what I have

hprompt commented 3 years ago

ok will try and let you know

hprompt commented 3 years ago

receiver tab changed serialrx_halfduplex = OFF to serialrx_halfduplex = AUTO Delete all sensors and rediscovered - same 14 sensors

on taranis x9d+ on Hardware page serial port = OFF tried Telem Mirror and Telemetry In - same 14 sensors didn't try LUA, Sbus Trainer

OptimusTi commented 3 years ago

Hmm. not sure then. Try deleting the model in OpenTX and setup again. You don't have to change anything excep channel setup, sensor discovery. reflash the crsf's

hprompt commented 3 years ago

when you say channel setup that's the input/mixes pages on the taranis? Right So I will delete the model and setup completely again

thanks for all your time and help

hprompt commented 3 years ago

deleted existing and created new model on taranis x9d+, erased kakute F7 v1.5 FC installed BF 4.2.9 with existing hardware. deleted and rediscovered sensors same 14 sensors. swapped Diversity nano RX with nano RX same 14 sensors. Flashed kakute F7 with inav 3.0 RC no change same 14 sensors. what I haven't tried is to downgrade Crossfire firmware 4.11

Broncas97 commented 3 years ago

Hello guys, I'm having the same problem as the OP. I can only get 13 sensors working. I tried flashing an older version of Crossfire but same problem. I'm on OpenTX 2.9.11 using RS TX16s.

wx4cb commented 3 years ago

it's setup problem, they're working fine on multiple birds here with the latest crossfire alpha and inav 3.0 rc2, latest OTX and a TX16s

Do you have the tx/rx wires around the right way, do you have it set to CRSF in the module? have nyou deleted and re-added all sensors in opentx ?

Broncas97 commented 3 years ago

I should mention that I'm not using iNav, but please leave this reply in case anyone like me has this problem too, this is the only thread I could find talking about this.

THE SOLUTION FOR ME: Updating BetaFlight on my quad. I was using 4.2.0 and I installed 4.2.9 and problem solved, I can now detect all sensors without problem.

Hope this helps someone! It's curious how this bug is present in both iNav and BF.

wx4cb commented 3 years ago

@Broncas97 that's strange..... i have 12+ birds here all with either inav or betaflight (betaflight 4.2.0 - inav 2.6 or 3.0rc2) and all on crossfire 4.11 without any issues whatsoever, except one that has a bad receiver in it (or antenna).

heck even took my RC car out this morning for a ride around the block on my front porch and that runs crossfire right into the esc (no FC - yet)

OptimusTi commented 3 years ago

Strange indeed. Specifically since sensors are a thing between the Rx and OpenTX.

wx4cb commented 3 years ago

Strange indeed. Specifically since sensors are a thing between the Rx and OpenTX.

yup. you should still get the rx sensors like TSNR, TLQ, RLQ, etc etc

OptimusTi commented 3 years ago

Also assuming that everyone read the manual and saw this: "Missing sensors If you got issues finding sensors or only a few appear, make sure you disabled​ Ignore Instances​ in the telemetry settings page of your radio"

hprompt commented 3 years ago

Hi All, Does anybody run: Holybro Kakute F7 v1.5 with Tekko32 F3 Metal 4in1 ESC Stack? Crossfire Diversity nano v2.0 RX or nano RX v4.11 and v4.0.8 Beltian BN-880 GPS If I run inav 2.6.1, 3.0RC1, Betaflight 4.2.9 I get the same 14 sensors

I would like to compare my dump, diff all against your Thx Hayward

OptimusTi commented 3 years ago

Did you disabled​ Ignore Instances​ in the telemetry settings page of your radio?

hprompt commented 3 years ago

Also assuming that everyone read the manual and saw this: "Missing sensors If you got issues finding sensors or only a few appear, make sure you disabled​ Ignore Instances​ in the telemetry settings page of your radio"

tried this only got the same 14 sensors

wx4cb commented 3 years ago

ok so..

  1. enabled telemetry in the configuration tab
  2. using CRSF and not SBUS
  3. HAVE IT WIRED CORRECTLY
  4. in the receiver tab you have serial and crsf setup?
  5. Have CRSF on the relevent outputs of the crossfire module in the lua script for the receiver ?
hprompt commented 3 years ago

  • enabled telemetry in the configuration tab Yes

  • using CRSF and not SBUS Yes

  • HAVE IT WIRED CORRECTLY crossfire Diversity Nano v2.0 CH1 which is TX connects to UART6 on kakute F7 v1.5 R6 crossfire Diversity Nano v2.0 CH2 which is RX connects to UART6 on kakute F7 v1.5 T6

  • in the receiver tab you have serial and crsf setup? Yes OFF - serial port inverted (comparing to protocol default) OFF or AUTO - serial receiver half-duplex

  • Have CRSF on the relevent outputs of the crossfire module in the lua script for the receiver ?

If I run the tbs agent lite or the crossfire lua

Crossfire nano RX shows: Output 1 Crsf tx Output 2 Crsf rx Output 3 Output 4 SmartAudio Output 5 BST SCL Output 6 BST SDA

Crossfire Diversity Nano v2.0 RX only shows: Output 1 Crsf tx Output 2 Crsf rx Output 3 Output 4 Output 5 Output 6

wx4cb commented 3 years ago

i havent touched the half duplex stuff on mine, it's whatever the defaults are for inav, half duplex shouldnt be on anyway. the only crsf line in my diff is:

set serialrx_provider = CRSF

also, i would try another serial port too on the fc that is

hprompt commented 3 years ago

also, i would try another serial port too on the fc that is

Its currently on UART6 (because that's what the manual said to use) open UARTS are: 2,3 and 7

I sent an email to Holybro about this and they didn't offer any help at all

wx4cb commented 3 years ago

try one of the other uarts.... ive never used that FC at all. i use matek wing fcs in my planes but the firmware should still be the same.

hprompt commented 3 years ago

ok I will give it a try thanks for all your help

Hayward

Broncas97 commented 3 years ago

@hprompt try enabling the Telemetry option in the Configuration tab in BetaFlight.

Configuration

hprompt commented 3 years ago

Running Inav 

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On Monday, May 31, 2021, 1:46 PM, Broncas97 @.***> wrote:

@hprompt try enabling the Telemetry option in the Configuration tab in BetaFlight.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or unsubscribe.

Broncas97 commented 3 years ago

I don't use iNav but if there is a similar setting, try it. Updating betaflight and turning that setting off and on again was what did it for me. Wish you luck man.

hprompt commented 3 years ago

I will try disable/enable Thanks for the help

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On Monday, May 31, 2021, 2:14 PM, Broncas97 @.***> wrote:

I don't use iNav but if there is a similar setting, try it. Updating betaflight and turning that setting off and on again was what did it for me. Wish you luck man.

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CorruptName commented 3 years ago

None of these suggestions worked for me. What I did to get telemetry working: 1: On Crossfire Agent Lite or LCD, Under "Output Map" set channels 3&4 to Mavlink RX & Mavlink TX. 2: Wire those pins to an unused UART. 3: On ports tab in inav, select UART then set it to Mavlink (telemetry column) - Make sure to use 57600 BAUD. 4: Delete all then Discover New Sensors.

This is the ONLY WAY I have gotten Telemetry working with crossfire on 2 different wings. Never had to do this before.

Edit: if you have Crossfire Nano RX and not Diversity Nano RX, you should be able to just change channels 1&2 to Mavlink in outputs and on inav ports page, uncheck RX box on whatever uart then enable Mavlink on the same uart. Make sure to use 57600 baud. As stated, once you have working telemetry you should be able to revert. If you use this method you may have to go to receivers tab when you revert and select crossfire protocol again.

wx4cb commented 3 years ago

@CorruptName That's only if you want true mavlink over bluetooth or wifi. this has no effect on the CRSF telemetry

hprompt commented 3 years ago

Great I will give it a try Thx

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On Monday, May 31, 2021, 8:18 PM, Corrupt @.***> wrote:

None of these suggestions worked for me. What I did to get telemetry working: 1: On Crossfire Agent Lite or LCD, Under "Output Map" set channels 3&4 to Mavlink RX & Mavlink TX. 2: Wire those pins to an unused UART. 3: On ports tab in inav, select UART then set it to Mavlink (telemetry column) - Make sure to use 57600 BAUD. 4: Delete all then Discover New Sensors.

This is the ONLY WAY I have gotten Telemetry working with crossfire on 2 different wings. Never had to do this before.

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CorruptName commented 3 years ago

I wasn't suggesting that it should be necessary. This is what I had to do to get sensors to come through to opentx. Without this solution, I could not get most of my telemetry data. It seems that I can now remove Mavlink now that it is working and crossfire will carry telemetry again.

On Tue, Jun 1, 2021, 4:59 AM wx4cb @.***> wrote:

@CorruptName https://github.com/CorruptName That's only if you want true mavlink over bluetooth or wifi. this has no effect on the CRSF telemetry

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hprompt commented 3 years ago

Hello All

I did as CorruptName suggested: 1: On Crossfire Agent Lite or LCD, Under "Output Map" set channels 3&4 to Mavlink RX & Mavlink TX. I couldn't get CH3 to set to Mavlink RX, it would only set to Mavlink TX. CH4 is set to Mavlink RX 2: Wire those pins to an unused UART. I used UART2 3: On ports tab in inav, select UART then set it to Mavlink (telemetry column) - Make sure to use 57600 BAUD. I did this 4: Delete all then Discover New Sensors. I did this now I get a total of 22 Sensors 1RSS,2RSS,RQly,RSNR,ANT,RFMD,TPWR,TRSS,TQly,TSNR GPS,GSpd,ALT,SATS,PITCH,ROLL,YAW,Hdg,RxBT,CURR,CAPA,BAT_

I believe I'm missing the FM sensor, how would I get the FM sensor?

THANKS ALL FOR YOUR HELP

Hayward

CorruptName commented 3 years ago

Hello All

I did as CorruptName suggested: 1: On Crossfire Agent Lite or LCD, Under "Output Map" set channels 3&4 to Mavlink RX & Mavlink TX. I couldn't get CH3 to set to Mavlink RX, it would only set to Mavlink TX. CH4 is set to Mavlink RX

You must be using Diversity Nano (or I have it backwards) on one TX is channel 3 and the other RX is 3. Doesn't matter as long as you connect it correctly.

I believe I'm missing the FM sensor, how would I get the FM sensor?

So now that you have gotten the telemetry flowing again, you SHOULD be able to revert back to just CRSF protocol. You won't get FM using Mavlink, only CRSF. I suggest you leave channels 2/3 physically connected but disable it in inav & outputs map. Just set outputs 3 & 4 back to Channels 3 & 4. Then Delete/Discover again to make sure everything is working now. If not, you may need to leave Mavlink and do without FM.

CorruptName commented 3 years ago

@CorruptName That's only if you want true mavlink over bluetooth or wifi. this has no effect on the CRSF telemetry

It seems there is a bug in inav which is causing CRSF not to work and for some reason Setting up Mavlink gets it working again. Mavlink does not need to stay enabled.

wx4cb commented 3 years ago

@CorruptName That's only if you want true mavlink over bluetooth or wifi. this has no effect on the CRSF telemetry

It seems there is a bug in inav which is causing CRSF not to work and for some reason Setting up Mavlink gets it working again. Mavlink does not need to stay enabled.

that's strange, I just got done setting up 2 controllers for new planes and didnt have any issues with RC2. can you be more specific about it ?

CorruptName commented 3 years ago

I don't know much, just that Myself and other users suddenly stop getting telemetry through crossfire. For some reason enabling Mavlink (temporarily) fixes the issue. I'll try and reproduce the issue when I get a chance.

On Tue, Jun 8, 2021, 3:04 PM wx4cb @.***> wrote:

@CorruptName https://github.com/CorruptName That's only if you want true mavlink over bluetooth or wifi. this has no effect on the CRSF telemetry

It seems there is a bug in inav which is causing CRSF not to work and for some reason Setting up Mavlink gets it working again. Mavlink does not need to stay enabled.

that's strange, I just got done setting up 2 controllers for new planes and didnt have any issues with RC2. can you be more specific about it ?

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hprompt commented 3 years ago

I’m using a kakute F7 V1.5 FC

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On Tuesday, June 8, 2021, 12:07 PM, Corrupt @.***> wrote:

I don't know much, just that Myself and other users suddenly stop getting telemetry through crossfire. For some reason enabling Mavlink (temporarily) fixes the issue. I'll try and reproduce the issue when I get a chance.

On Tue, Jun 8, 2021, 3:04 PM wx4cb @.***> wrote:

@CorruptName https://github.com/CorruptName That's only if you want true mavlink over bluetooth or wifi. this has no effect on the CRSF telemetry

It seems there is a bug in inav which is causing CRSF not to work and for some reason Setting up Mavlink gets it working again. Mavlink does not need to stay enabled.

that's strange, I just got done setting up 2 controllers for new planes and didnt have any issues with RC2. can you be more specific about it ?

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CorruptName commented 3 years ago

I've had this issue on at least 3 different flight controllers lately. Don't think it's hardware related. Probably need to look at changes to the radio protocols in 3.0. I do believe the issue is present on both RC1 & RC2 but not certain.

On Tue, Jun 8, 2021, 3:25 PM hprompt @.***> wrote:

I’m using a kakute F7 V1.5 FC

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On Tuesday, June 8, 2021, 12:07 PM, Corrupt @.***> wrote:

I don't know much, just that Myself and other users suddenly stop getting telemetry through crossfire. For some reason enabling Mavlink (temporarily) fixes the issue. I'll try and reproduce the issue when I get a chance.

On Tue, Jun 8, 2021, 3:04 PM wx4cb @.***> wrote:

@CorruptName https://github.com/CorruptName That's only if you want true mavlink over bluetooth or wifi. this has no effect on the CRSF telemetry

It seems there is a bug in inav which is causing CRSF not to work and for some reason Setting up Mavlink gets it working again. Mavlink does not need to stay enabled.

that's strange, I just got done setting up 2 controllers for new planes and didnt have any issues with RC2. can you be more specific about it ?

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