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iNavFlight / inav

INAV: Navigation-enabled flight control software
https://inavflight.github.io
GNU General Public License v3.0
3.18k stars 1.49k forks source link

Post Hold Drifting (rubberband effect) #7216

Closed Kuzon24 closed 2 years ago

Kuzon24 commented 3 years ago

Post Hold is drifting when you move the quad and come to a stop it'll have a rubberband effect. It's not locked in at all. In inav 2.4 this problem was not as bad as inav 3.0 How can this be solved? Is it pids? Breaking options?

I don't expect it to be as sharp and stable as a dji quad but hopefully it can be used as a safetey feature when hitting angle mode + Post hold the quad would come to a stop on the spot.

Info:

dump

version

INAV/MATEKF722SE 3.0.0 Jun 12 2021 / 12:43:26 (3c7b1b7c)

GCC-9.3.1 20200408 (release)

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

pid

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

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 -FW_AUTOTRIM feature VBAT feature TX_PROF_SEL feature BAT_PROF_AUTOSWITCH feature GPS feature TELEMETRY feature CURRENT_METER feature BLACKBOX feature AIRMODE feature PWM_OUTPUT_ENABLE feature OSD

beeper

beeper RUNTIME_CALIBRATION beeper HW_FAILURE beeper RX_LOST beeper RX_LOST_LANDING beeper DISARMING beeper ARMING beeper ARMING_GPS_FIX beeper BAT_CRIT_LOW beeper BAT_LOW beeper GPS_STATUS beeper RX_SET beeper ACTION_SUCCESS beeper ACTION_FAIL beeper READY_BEEP beeper MULTI_BEEPS beeper DISARM_REPEAT beeper ARMED beeper SYSTEM_INIT beeper ON_USB beeper LAUNCH_MODE beeper LAUNCH_MODE_LOW_THROTTLE beeper LAUNCH_MODE_IDLE_START beeper CAM_CONNECTION_OPEN beeper CAM_CONNECTION_CLOSED

map

map AETR

serial

serial 20 1 115200 115200 0 115200 serial 0 64 115200 115200 0 115200 serial 1 2 115200 115200 0 115200 serial 2 1 9600 115200 0 115200 serial 3 2097152 115200 115200 0 115200 serial 5 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 1300 aux 1 51 5 1300 1700 aux 2 1 2 900 1725 aux 3 10 4 1825 2100 aux 4 11 3 1300 1600 aux 5 3 2 1350 1625 aux 6 5 3 1825 2100 aux 7 28 4 1300 1700 aux 8 30 1 1700 2100 aux 9 52 7 1700 2100 aux 10 13 5 1300 2100 aux 11 27 5 1775 2100 aux 12 0 0 900 900 aux 13 0 0 900 900 aux 14 0 0 900 900 aux 15 0 0 900 900 aux 16 0 0 900 900 aux 17 0 0 900 900 aux 18 0 0 900 900 aux 19 0 0 900 900 aux 20 0 0 900 900 aux 21 0 0 900 900 aux 22 0 0 900 900 aux 23 0 0 900 900 aux 24 0 0 900 900 aux 25 0 0 900 900 aux 26 0 0 900 900 aux 27 0 0 900 900 aux 28 0 0 900 900 aux 29 0 0 900 900 aux 30 0 0 900 900 aux 31 0 0 900 900 aux 32 0 0 900 900 aux 33 0 0 900 900 aux 34 0 0 900 900 aux 35 0 0 900 900 aux 36 0 0 900 900 aux 37 0 0 900 900 aux 38 0 0 900 900 aux 39 0 0 900 900

adjrange

adjrange 0 0 7 900 950 0 7 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 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 24 1 V osd_layout 0 1 12 0 V osd_layout 0 2 0 0 H osd_layout 0 3 8 6 H osd_layout 0 4 8 6 H osd_layout 0 5 23 8 H osd_layout 0 6 23 9 H osd_layout 0 7 13 13 V osd_layout 0 8 14 14 V osd_layout 0 9 1 2 H osd_layout 0 10 8 6 H osd_layout 0 11 26 6 V osd_layout 0 12 1 7 H osd_layout 0 13 26 7 V osd_layout 0 14 0 0 V osd_layout 0 15 0 6 V osd_layout 0 16 2 10 H osd_layout 0 17 2 11 H osd_layout 0 18 2 12 H osd_layout 0 19 15 1 H osd_layout 0 20 0 11 V osd_layout 0 21 0 12 V osd_layout 0 22 14 2 V osd_layout 0 23 0 1 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 11 H osd_layout 0 29 23 12 H osd_layout 0 30 0 15 H osd_layout 0 31 0 10 H osd_layout 0 32 12 1 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 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 1 12 H osd_layout 0 98 0 0 H osd_layout 0 99 0 0 H osd_layout 0 100 12 4 H osd_layout 0 101 12 5 H osd_layout 0 102 12 6 H osd_layout 0 103 12 7 H osd_layout 0 104 0 0 H osd_layout 0 105 3 5 H osd_layout 0 106 1 2 H osd_layout 0 107 1 3 H osd_layout 0 108 2 12 H osd_layout 0 109 23 12 H osd_layout 0 110 23 11 H osd_layout 0 111 24 9 H osd_layout 0 112 24 10 H osd_layout 0 113 1 1 H osd_layout 0 114 1 2 H osd_layout 0 115 1 3 H osd_layout 0 116 1 4 H osd_layout 0 117 0 0 H osd_layout 0 118 0 0 H osd_layout 0 119 0 0 H osd_layout 0 120 0 0 H osd_layout 0 121 3 4 H osd_layout 0 122 3 5 H osd_layout 0 123 3 6 H osd_layout 0 124 23 2 H osd_layout 1 0 23 0 H osd_layout 1 1 12 0 H osd_layout 1 2 0 0 H osd_layout 1 3 8 6 H osd_layout 1 4 8 6 H osd_layout 1 5 23 8 H osd_layout 1 6 23 9 H osd_layout 1 7 13 12 H osd_layout 1 8 20 2 H osd_layout 1 9 1 2 H osd_layout 1 10 8 6 H osd_layout 1 11 2 3 H osd_layout 1 12 1 4 H osd_layout 1 13 23 1 H osd_layout 1 14 0 11 H osd_layout 1 15 1 0 H osd_layout 1 16 2 10 H osd_layout 1 17 2 11 H osd_layout 1 18 2 12 H osd_layout 1 19 15 1 H osd_layout 1 20 18 12 H osd_layout 1 21 0 12 H osd_layout 1 22 14 11 H osd_layout 1 23 1 1 H osd_layout 1 24 12 2 H osd_layout 1 25 23 5 H osd_layout 1 26 24 7 H osd_layout 1 27 3 5 H osd_layout 1 28 23 11 H osd_layout 1 29 23 12 H osd_layout 1 30 1 13 H osd_layout 1 31 0 10 H osd_layout 1 32 12 1 H osd_layout 1 33 6 2 H osd_layout 1 34 18 2 H osd_layout 1 35 1 5 H osd_layout 1 36 1 5 H osd_layout 1 37 1 6 H osd_layout 1 38 1 7 H osd_layout 1 39 1 5 H osd_layout 1 40 1 2 H osd_layout 1 41 1 8 H osd_layout 1 42 1 7 H osd_layout 1 43 0 0 H osd_layout 1 44 0 0 H osd_layout 1 45 0 0 H osd_layout 1 46 3 6 H osd_layout 1 47 3 7 H osd_layout 1 48 23 7 H osd_layout 1 49 23 6 H osd_layout 1 50 0 0 H osd_layout 1 51 12 2 H osd_layout 1 52 12 2 H osd_layout 1 53 12 1 H osd_layout 1 54 12 1 H osd_layout 1 55 1 8 H osd_layout 1 56 2 12 H osd_layout 1 57 2 12 H osd_layout 1 58 2 12 H osd_layout 1 59 2 12 H osd_layout 1 60 2 12 H osd_layout 1 61 2 12 H osd_layout 1 62 2 10 H osd_layout 1 63 2 11 H osd_layout 1 64 2 12 H osd_layout 1 65 2 12 H osd_layout 1 66 2 12 H osd_layout 1 67 2 12 H osd_layout 1 68 2 12 H osd_layout 1 69 2 12 H osd_layout 1 70 2 12 H osd_layout 1 71 2 12 H osd_layout 1 72 2 12 H osd_layout 1 73 2 12 H osd_layout 1 74 2 12 H osd_layout 1 75 2 12 H osd_layout 1 76 2 12 H osd_layout 1 77 2 12 H osd_layout 1 78 0 0 H osd_layout 1 79 2 12 H osd_layout 1 80 2 12 H osd_layout 1 81 2 12 H osd_layout 1 82 2 12 H osd_layout 1 83 2 12 H osd_layout 1 84 2 12 H osd_layout 1 85 23 1 H osd_layout 1 86 19 2 H osd_layout 1 87 19 3 H osd_layout 1 88 19 4 H osd_layout 1 89 19 5 H osd_layout 1 90 19 6 H osd_layout 1 91 19 7 H osd_layout 1 92 19 8 H osd_layout 1 93 19 9 H osd_layout 1 94 19 10 H osd_layout 1 95 19 11 H osd_layout 1 96 0 0 H osd_layout 1 97 0 12 H osd_layout 1 98 0 0 H osd_layout 1 99 0 0 H osd_layout 1 100 12 4 H osd_layout 1 101 12 5 H osd_layout 1 102 12 6 H osd_layout 1 103 12 7 H osd_layout 1 104 0 0 H osd_layout 1 105 3 5 H osd_layout 1 106 1 2 H osd_layout 1 107 1 3 H osd_layout 1 108 2 12 H osd_layout 1 109 23 12 H osd_layout 1 110 23 11 H osd_layout 1 111 24 9 H osd_layout 1 112 24 10 H osd_layout 1 113 1 1 H osd_layout 1 114 1 2 H osd_layout 1 115 1 3 H osd_layout 1 116 1 4 H osd_layout 1 117 0 0 H osd_layout 1 118 0 0 H osd_layout 1 119 0 0 H osd_layout 1 120 0 0 H osd_layout 1 121 3 4 H osd_layout 1 122 3 5 H osd_layout 1 123 3 6 H osd_layout 1 124 23 2 H osd_layout 2 0 23 0 H osd_layout 2 1 12 0 H osd_layout 2 2 0 0 H osd_layout 2 3 8 6 H osd_layout 2 4 8 6 H osd_layout 2 5 23 8 H osd_layout 2 6 23 9 H osd_layout 2 7 13 12 H osd_layout 2 8 20 2 H osd_layout 2 9 1 2 H osd_layout 2 10 8 6 H osd_layout 2 11 2 3 H osd_layout 2 12 1 4 H osd_layout 2 13 23 1 H osd_layout 2 14 0 11 H osd_layout 2 15 1 0 H osd_layout 2 16 2 10 H osd_layout 2 17 2 11 H osd_layout 2 18 2 12 H osd_layout 2 19 15 1 H osd_layout 2 20 18 12 H osd_layout 2 21 0 12 H osd_layout 2 22 14 11 H osd_layout 2 23 1 1 H osd_layout 2 24 12 2 H osd_layout 2 25 23 5 H osd_layout 2 26 24 7 H osd_layout 2 27 3 5 H osd_layout 2 28 23 11 H osd_layout 2 29 23 12 H osd_layout 2 30 1 13 H osd_layout 2 31 0 10 H osd_layout 2 32 12 1 H osd_layout 2 33 6 2 H osd_layout 2 34 18 2 H osd_layout 2 35 1 5 H osd_layout 2 36 1 5 H osd_layout 2 37 1 6 H osd_layout 2 38 1 7 H osd_layout 2 39 1 5 H osd_layout 2 40 1 2 H osd_layout 2 41 1 8 H osd_layout 2 42 1 7 H osd_layout 2 43 0 0 H osd_layout 2 44 0 0 H osd_layout 2 45 0 0 H osd_layout 2 46 3 6 H osd_layout 2 47 3 7 H osd_layout 2 48 23 7 H osd_layout 2 49 23 6 H osd_layout 2 50 0 0 H osd_layout 2 51 12 2 H osd_layout 2 52 12 2 H osd_layout 2 53 12 1 H osd_layout 2 54 12 1 H osd_layout 2 55 1 8 H osd_layout 2 56 2 12 H osd_layout 2 57 2 12 H osd_layout 2 58 2 12 H osd_layout 2 59 2 12 H osd_layout 2 60 2 12 H osd_layout 2 61 2 12 H osd_layout 2 62 2 10 H osd_layout 2 63 2 11 H osd_layout 2 64 2 12 H osd_layout 2 65 2 12 H osd_layout 2 66 2 12 H osd_layout 2 67 2 12 H osd_layout 2 68 2 12 H osd_layout 2 69 2 12 H osd_layout 2 70 2 12 H osd_layout 2 71 2 12 H osd_layout 2 72 2 12 H osd_layout 2 73 2 12 H osd_layout 2 74 2 12 H osd_layout 2 75 2 12 H osd_layout 2 76 2 12 H osd_layout 2 77 2 12 H osd_layout 2 78 0 0 H osd_layout 2 79 2 12 H osd_layout 2 80 2 12 H osd_layout 2 81 2 12 H osd_layout 2 82 2 12 H osd_layout 2 83 2 12 H osd_layout 2 84 2 12 H osd_layout 2 85 23 1 H osd_layout 2 86 19 2 H osd_layout 2 87 19 3 H osd_layout 2 88 19 4 H osd_layout 2 89 19 5 H osd_layout 2 90 19 6 H osd_layout 2 91 19 7 H osd_layout 2 92 19 8 H osd_layout 2 93 19 9 H osd_layout 2 94 19 10 H osd_layout 2 95 19 11 H osd_layout 2 96 0 0 H osd_layout 2 97 0 12 H osd_layout 2 98 0 0 H osd_layout 2 99 0 0 H osd_layout 2 100 12 4 H osd_layout 2 101 12 5 H osd_layout 2 102 12 6 H osd_layout 2 103 12 7 H osd_layout 2 104 0 0 H osd_layout 2 105 3 5 H osd_layout 2 106 1 2 H osd_layout 2 107 1 3 H osd_layout 2 108 2 12 H osd_layout 2 109 23 12 H osd_layout 2 110 23 11 H osd_layout 2 111 24 9 H osd_layout 2 112 24 10 H osd_layout 2 113 1 1 H osd_layout 2 114 1 2 H osd_layout 2 115 1 3 H osd_layout 2 116 1 4 H osd_layout 2 117 0 0 H osd_layout 2 118 0 0 H osd_layout 2 119 0 0 H osd_layout 2 120 0 0 H osd_layout 2 121 3 4 H osd_layout 2 122 3 5 H osd_layout 2 123 3 6 H osd_layout 2 124 23 2 H osd_layout 3 0 23 0 H osd_layout 3 1 12 0 H osd_layout 3 2 0 0 H osd_layout 3 3 8 6 H osd_layout 3 4 8 6 H osd_layout 3 5 23 8 H osd_layout 3 6 23 9 H osd_layout 3 7 13 12 H osd_layout 3 8 20 2 H osd_layout 3 9 1 2 H osd_layout 3 10 8 6 H osd_layout 3 11 2 3 H osd_layout 3 12 1 4 H osd_layout 3 13 23 1 H osd_layout 3 14 0 11 H osd_layout 3 15 1 0 H osd_layout 3 16 2 10 H osd_layout 3 17 2 11 H osd_layout 3 18 2 12 H osd_layout 3 19 15 1 H osd_layout 3 20 18 12 H osd_layout 3 21 0 12 H osd_layout 3 22 14 11 H osd_layout 3 23 1 1 H osd_layout 3 24 12 2 H osd_layout 3 25 23 5 H osd_layout 3 26 24 7 H osd_layout 3 27 3 5 H osd_layout 3 28 23 11 H osd_layout 3 29 23 12 H osd_layout 3 30 1 13 H osd_layout 3 31 0 10 H osd_layout 3 32 12 1 H osd_layout 3 33 6 2 H osd_layout 3 34 18 2 H osd_layout 3 35 1 5 H osd_layout 3 36 1 5 H osd_layout 3 37 1 6 H osd_layout 3 38 1 7 H osd_layout 3 39 1 5 H osd_layout 3 40 1 2 H osd_layout 3 41 1 8 H osd_layout 3 42 1 7 H osd_layout 3 43 0 0 H osd_layout 3 44 0 0 H osd_layout 3 45 0 0 H osd_layout 3 46 3 6 H osd_layout 3 47 3 7 H osd_layout 3 48 23 7 H osd_layout 3 49 23 6 H osd_layout 3 50 0 0 H osd_layout 3 51 12 2 H osd_layout 3 52 12 2 H osd_layout 3 53 12 1 H osd_layout 3 54 12 1 H osd_layout 3 55 1 8 H osd_layout 3 56 2 12 H osd_layout 3 57 2 12 H osd_layout 3 58 2 12 H osd_layout 3 59 2 12 H osd_layout 3 60 2 12 H osd_layout 3 61 2 12 H osd_layout 3 62 2 10 H osd_layout 3 63 2 11 H osd_layout 3 64 2 12 H osd_layout 3 65 2 12 H osd_layout 3 66 2 12 H osd_layout 3 67 2 12 H osd_layout 3 68 2 12 H osd_layout 3 69 2 12 H osd_layout 3 70 2 12 H osd_layout 3 71 2 12 H osd_layout 3 72 2 12 H osd_layout 3 73 2 12 H osd_layout 3 74 2 12 H osd_layout 3 75 2 12 H osd_layout 3 76 2 12 H osd_layout 3 77 2 12 H osd_layout 3 78 0 0 H osd_layout 3 79 2 12 H osd_layout 3 80 2 12 H osd_layout 3 81 2 12 H osd_layout 3 82 2 12 H osd_layout 3 83 2 12 H osd_layout 3 84 2 12 H osd_layout 3 85 23 1 H osd_layout 3 86 19 2 H osd_layout 3 87 19 3 H osd_layout 3 88 19 4 H osd_layout 3 89 19 5 H osd_layout 3 90 19 6 H osd_layout 3 91 19 7 H osd_layout 3 92 19 8 H osd_layout 3 93 19 9 H osd_layout 3 94 19 10 H osd_layout 3 95 19 11 H osd_layout 3 96 0 0 H osd_layout 3 97 0 12 H osd_layout 3 98 0 0 H osd_layout 3 99 0 0 H osd_layout 3 100 12 4 H osd_layout 3 101 12 5 H osd_layout 3 102 12 6 H osd_layout 3 103 12 7 H osd_layout 3 104 0 0 H osd_layout 3 105 3 5 H osd_layout 3 106 1 2 H osd_layout 3 107 1 3 H osd_layout 3 108 2 12 H osd_layout 3 109 23 12 H osd_layout 3 110 23 11 H osd_layout 3 111 24 9 H osd_layout 3 112 24 10 H osd_layout 3 113 1 1 H osd_layout 3 114 1 2 H osd_layout 3 115 1 3 H osd_layout 3 116 1 4 H osd_layout 3 117 0 0 H osd_layout 3 118 0 0 H osd_layout 3 119 0 0 H osd_layout 3 120 0 0 H osd_layout 3 121 3 4 H osd_layout 3 122 3 5 H osd_layout 3 123 3 6 H osd_layout 3 124 23 2 H

master

set looptime = 500 set align_gyro = DEFAULT set gyro_hardware_lpf = 256HZ set gyro_anti_aliasing_lpf_hz = 250 set gyro_anti_aliasing_lpf_type = PT1 set moron_threshold = 32 set gyro_notch_hz = 0 set gyro_notch_cutoff = 1 set gyro_main_lpf_hz = 100 set gyro_main_lpf_type = PT1 set gyro_use_dyn_lpf = OFF set gyro_dyn_lpf_min_hz = 200 set gyro_dyn_lpf_max_hz = 500 set gyro_dyn_lpf_curve_expo = 5 set dynamic_gyro_notch_enabled = ON set dynamic_gyro_notch_range = MEDIUM set dynamic_gyro_notch_q = 175 set dynamic_gyro_notch_min_hz = 110 set gyro_to_use = 0 set gyro_abg_alpha = 0.000 set gyro_abg_boost = 0.350 set gyro_abg_half_life = 0.500 set vbat_adc_channel = 1 set rssi_adc_channel = 3 set current_adc_channel = 2 set airspeed_adc_channel = 4 set acc_notch_hz = 0 set acc_notch_cutoff = 1 set align_acc = DEFAULT set acc_hardware = MPU6000 set acc_lpf_hz = 15 set acc_lpf_type = BIQUAD set acczero_x = 7 set acczero_y = -8 set acczero_z = -141 set accgain_x = 4105 set accgain_y = 4098 set accgain_z = 4049 set rangefinder_hardware = NONE set rangefinder_median_filter = OFF set opflow_hardware = NONE set opflow_scale = 10.500 set align_opflow = CW0FLIP set imu2_hardware = NONE set imu2_use_for_osd_heading = OFF set imu2_use_for_osd_ahi = OFF set imu2_use_for_stabilized = OFF set imu2_align_roll = 0 set imu2_align_pitch = 0 set imu2_align_yaw = 0 set imu2_gain_acc_x = 0 set imu2_gain_acc_y = 0 set imu2_gain_acc_z = 0 set imu2_gain_mag_x = 0 set imu2_gain_mag_y = 0 set imu2_gain_mag_z = 0 set imu2_radius_acc = 0 set imu2_radius_mag = 0 set align_mag = CW0FLIP set mag_hardware = QMC5883 set mag_declination = 0 set magzero_x = 136 set magzero_y = 0 set magzero_z = 0 set maggain_x = 1545 set maggain_y = 1478 set maggain_z = 1555 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 = 16 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 srxl2_unit_id = 1 set srxl2_baud_fast = ON set rx_min_usec = 885 set rx_max_usec = 2115 set serialrx_halfduplex = AUTO set blackbox_rate_num = 1 set blackbox_rate_denom = 2 set blackbox_device = SDCARD set sdcard_detect_inverted = OFF set max_throttle = 1850 set min_command = 1000 set motor_pwm_rate = 16000 set motor_accel_time = 0 set motor_decel_time = 0 set motor_pwm_protocol = DSHOT600 set throttle_scale = 1.000 set throttle_idle = 6.000 set motor_poles = 14 set turtle_mode_power_factor = 55 set failsafe_delay = 5 set failsafe_recovery_delay = 5 set failsafe_off_delay = 50 set failsafe_throttle = 1200 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 = 10 set align_board_pitch = 4 set align_board_yaw = 0 set vbat_meter_type = ADC set vbat_scale = 1100 set current_meter_scale = 179 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 = ON 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 = 60 set servo_lpf_hz = 20 set flaperon_throw_offset = 200 set tri_unarmed_servo = ON set servo_autotrim_rotation_limit = 15 set reboot_character = 82 set 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 prearm_timeout = 10000 set applied_defaults = 2 set rpm_gyro_filter_enabled = OFF set rpm_gyro_harmonics = 1 set rpm_gyro_min_hz = 100 set rpm_gyro_q = 500 set gps_provider = UBLOX set gps_sbas_mode = NONE set gps_dyn_model = AIR_1G set gps_auto_config = ON set gps_auto_baud = ON set gps_ublox_use_galileo = ON set gps_min_sats = 6 set deadband = 5 set yaw_deadband = 5 set pos_hold_deadband = 10 set control_deadband = 10 set alt_hold_deadband = 50 set 3d_deadband_throttle = 50 set airmode_type = THROTTLE_THRESHOLD set airmode_throttle_threshold = 1300 set fw_autotune_min_stick = 50 set fw_autotune_ff_to_p_gain = 10 set fw_autotune_p_to_d_gain = 0 set fw_autotune_ff_to_i_tc = 600 set fw_autotune_rate_adjustment = AUTO set fw_autotune_max_rate_deflection = 90 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 = 0.090 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 = ON set nav_extra_arming_safety = OFF set nav_user_control_mode = ATTI set nav_position_timeout = 5 set nav_wp_load_on_boot = OFF set nav_wp_radius = 50 set nav_wp_safe_distance = 5000 set nav_auto_speed = 300 set nav_auto_climb_rate = 500 set nav_manual_speed = 500 set nav_manual_climb_rate = 200 set nav_land_minalt_vspd = 50 set nav_land_maxalt_vspd = 200 set nav_land_slowdown_minalt = 400 set nav_land_slowdown_maxalt = 500 set nav_emerg_landing_speed = 250 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 = ON set nav_rth_allow_landing = ALWAYS set nav_rth_alt_mode = AT_LEAST set nav_rth_alt_control_override = OFF set nav_rth_abort_threshold = 50000 set nav_max_terrain_follow_alt = 100 set nav_max_altitude = 0 set nav_rth_altitude = 1000 set nav_rth_home_altitude = 0 set safehome_max_distance = 20000 set safehome_usage_mode = RTH set nav_mc_bank_angle = 40 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_mc_wp_slowdown = ON set nav_fw_cruise_thr = 1399 set nav_fw_min_thr = 1200 set nav_fw_max_thr = 1700 set nav_fw_bank_angle = 34 set nav_fw_climb_angle = 20 set nav_fw_dive_angle = 15 set nav_fw_pitch2thr = 10 set nav_fw_pitch2thr_smoothing = 6 set nav_fw_pitch2thr_threshold = 50 set nav_fw_loiter_radius = 7500 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_idle_motor_delay = 0 set nav_fw_launch_motor_delay = 500 set nav_fw_launch_spinup_time = 100 set nav_fw_launch_end_time = 3000 set nav_fw_launch_min_time = 0 set nav_fw_launch_timeout = 5000 set nav_fw_launch_max_altitude = 0 set nav_fw_launch_climb_angle = 18 set nav_fw_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 = 2 set acc_event_threshold_high = 0 set acc_event_threshold_low = 0 set acc_event_threshold_neg_x = 0 set sim_low_altitude = -32767 set mavlink_ext_status_rate = 2 set mavlink_rc_chan_rate = 5 set mavlink_pos_rate = 2 set mavlink_extra1_rate = 10 set mavlink_extra2_rate = 2 set mavlink_extra3_rate = 1 set mavlink_version = 2 set ledstrip_visual_beeper = OFF set osd_telemetry = OFF set osd_video_system = PAL set osd_row_shiftdown = 0 set osd_units = METRIC set osd_stats_energy_unit = MAH set osd_stats_min_voltage_unit = BATTERY set osd_rssi_alarm = 20 set osd_time_alarm = 10 set osd_alt_alarm = 100 set osd_dist_alarm = 1000 set osd_neg_alt_alarm = 5 set osd_current_alarm = 0 set osd_gforce_alarm = 5.000 set osd_gforce_axis_alarm_min = -5.000 set osd_gforce_axis_alarm_max = 5.000 set osd_imu_temp_alarm_min = -200 set osd_imu_temp_alarm_max = 600 set osd_esc_temp_alarm_max = 900 set osd_esc_temp_alarm_min = -200 set osd_baro_temp_alarm_min = -200 set osd_baro_temp_alarm_max = 600 set osd_snr_alarm = 4 set osd_link_quality_alarm = 70 set osd_rssi_dbm_alarm = 0 set osd_temp_label_align = LEFT set osd_ahi_reverse_roll = OFF set osd_ahi_max_pitch = 20 set osd_crosshairs_style = DEFAULT set osd_crsf_lq_format = TYPE1 set osd_horizon_offset = 0 set osd_camera_uptilt = 0 set osd_ahi_camera_uptilt_comp = OFF set osd_camera_fov_h = 135 set osd_camera_fov_v = 85 set osd_hud_margin_h = 3 set osd_hud_margin_v = 3 set osd_hud_homing = OFF set osd_hud_homepoint = OFF set osd_hud_radar_disp = 0 set osd_hud_radar_range_min = 3 set osd_hud_radar_range_max = 4000 set osd_hud_radar_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_plus_code_short = 0 set osd_ahi_style = DEFAULT set osd_force_grid = OFF set osd_ahi_bordered = OFF set osd_ahi_width = 132 set osd_ahi_height = 162 set osd_ahi_vertical_offset = -18 set osd_sidebar_horizontal_offset = 0 set osd_left_sidebar_scroll_step = 0 set osd_right_sidebar_scroll_step = 0 set osd_sidebar_height = 3 set osd_home_position_arm_screen = ON set osd_pan_servo_index = 0 set osd_pan_servo_pwm2centideg = 0 set osd_speed_source = GROUND set i2c_speed = 800KHZ set debug_mode = NONE set throttle_tilt_comp_str = 0 set name = Kuzon GPS set mode_range_logic_operator = OR set stats = OFF set stats_total_time = 0 set stats_total_dist = 0 set stats_total_energy = 0 set tz_offset = 0 set tz_automatic_dst = OFF set display_force_sw_blink = OFF set vtx_halfduplex = ON set vtx_smartaudio_early_akk_workaround = ON set vtx_band = 3 set vtx_channel = 3 set vtx_power = 2 set vtx_low_power_disarm = ON set vtx_pit_mode_chan = 1 set vtx_max_power_override = 0 set pinio_box1 = 47 set pinio_box2 = 48 set pinio_box3 = 255 set pinio_box4 = 255 set log_level = ERROR set log_topics = 0 set esc_sensor_listen_only = OFF set smartport_master_halfduplex = ON set smartport_master_inverted = OFF set dji_workarounds = 1 set dji_use_name_for_messages = ON set dji_esc_temp_source = ESC set dshot_beeper_enabled = OFF set dshot_beeper_tone = 4 set limit_cont_current = 0 set limit_burst_current = 0 set limit_burst_current_time = 0 set limit_burst_current_falldown_time = 0 set limit_cont_power = 0 set limit_burst_power = 0 set limit_burst_power_time = 0 set limit_burst_power_falldown_time = 0 set limit_pi_p = 100 set limit_pi_i = 100 set limit_attn_filter_cutoff = 1.200

profile

profile 3

set mc_p_pitch = 37 set mc_i_pitch = 70 set mc_d_pitch = 22 set mc_cd_pitch = 100 set mc_p_roll = 31 set mc_i_roll = 50 set mc_d_roll = 21 set mc_cd_roll = 100 set mc_p_yaw = 50 set mc_i_yaw = 70 set mc_d_yaw = 10 set mc_cd_yaw = 100 set mc_p_level = 30 set mc_i_level = 15 set mc_d_level = 75 set fw_p_pitch = 5 set fw_i_pitch = 7 set fw_d_pitch = 0 set fw_ff_pitch = 50 set fw_p_roll = 5 set fw_i_roll = 7 set fw_d_roll = 0 set fw_ff_roll = 50 set fw_p_yaw = 6 set fw_i_yaw = 10 set fw_d_yaw = 0 set fw_ff_yaw = 60 set fw_p_level = 20 set fw_i_level = 5 set fw_d_level = 75 set max_angle_inclination_rll = 450 set max_angle_inclination_pit = 450 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 = 1500.000 set fw_turn_assist_yaw_gain = 1.000 set fw_turn_assist_pitch_gain = 1.000 set fw_iterm_limit_stick_position = 0.500 set fw_yaw_iterm_freeze_bank_angle = 0 set pidsum_limit = 500 set pidsum_limit_yaw = 350 set iterm_windup = 50 set rate_accel_limit_roll_pitch = 0 set rate_accel_limit_yaw = 10000 set heading_hold_rate_limit = 45 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 fw_level_pitch_trim = 0.000 set smith_predictor_strength = 0.500 set smith_predictor_delay = 0.000 set smith_predictor_lpf_hz = 50 set fw_level_pitch_gain = 5.000 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 1

set bat_cells = 0 set vbat_cell_detect_voltage = 425 set vbat_max_cell_voltage = 420 set vbat_min_cell_voltage = 330 set vbat_warning_cell_voltage = 350 set battery_capacity = 0 set battery_capacity_warning = 0 set battery_capacity_critical = 0 set battery_capacity_unit = MAH

JulioCesarMatias commented 3 years ago

switch autopilot mode from Attitude to Cruise in Advanced Tunning. And yes, inav has a pos-hold as good as the DJI, you just need to know how to configure your equipment.

Kuzon24 commented 3 years ago

I will try that, thank you! It can really be that stable? It's holding it's position fine but when you move the sticks and let go it takes time to get locked into position. Can you please give me some tips on things I can try to make it perfect?

JulioCesarMatias commented 3 years ago

I will try that, thank you! It can really be that stable? It's holding it's position fine but when you move the sticks and let go it takes time to get locked into position. Can you please give me some tips on things I can try to make it perfect?

  • play with the nav pids?
  • use MCBrake or not?
  • use head hold or not?
  • also when in altitude mode it always loses some altitude when moving forward.

like i said above, toggle autopilot mode.

DzikuVx commented 3 years ago

The MAG calibration seems to be little off

set magzero_x = 136
set magzero_y = 0
set magzero_z = 0
set maggain_x = 1545
set maggain_y = 1478
set maggain_z = 1555
Kuzon24 commented 3 years ago

I always calibrate compass before every flight. But I use the speedybee app for it. Maybe this is giving me wrong calibration? I'll try and use the quick sticks command this time.

Thank you for taking time to check it Pawel 🙏

stale[bot] commented 2 years ago

This issue / pull request has been automatically marked as stale because it has not had any activity in 60 days. The resources of the INAV team are limited, and so we are asking for your help. This issue / pull request will be closed if no further activity occurs within two weeks.