diff all

# version
# INAV/MATEKF405TE_SD 7.0.0 May 28 2025 / 11:21:23 (72793b48)
# GCC-10.3.1 20210824 (release)

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# Timer overrides

# Outputs [servo]

# safehome

# features
feature THR_VBAT_COMP
feature BAT_PROF_AUTOSWITCH
feature PWM_OUTPUT_ENABLE

# beeper

# blackbox
blackbox -NAV_ACC
blackbox NAV_POS
blackbox NAV_PID
blackbox MAG
blackbox ACC
blackbox ATTI
blackbox RC_DATA
blackbox RC_COMMAND
blackbox MOTORS
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y

# Receiver: Channel map

# Ports
serial 0 0 115200 115200 0 115200
serial 1 65536 115200 115200 0 115200
serial 3 1 115200 115200 0 115200

# LEDs

# LED color

# LED mode_color

# Modes [aux]
aux 0 0 2 1200 2100
aux 1 2 2 1700 2100
aux 2 3 3 1200 2100
aux 3 27 4 1575 2100
aux 4 38 4 1575 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]

# Programming: logic

# Programming: global variables

# Programming: PID controllers

# master
set looptime = 500
set gyro_main_lpf_hz = 34
set gyro_main_lpf_type = PT1
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 120
set dynamic_gyro_notch_mode = 3D
set setpoint_kalman_q = 200
set gyro_zero_x = -9
set gyro_zero_y = 10
set gyro_zero_z = -8
set ins_gravity_cmss =  972.778
set acc_hardware = ICM42605
set acczero_x = -4
set acczero_z = 4
set accgain_x = 4091
set accgain_y = 4089
set accgain_z = 4102
set rangefinder_hardware = BENEWAKE
set align_mag = CW270FLIP
set mag_hardware = NONE
set magzero_x = -373
set magzero_y = -144
set magzero_z = 961
set maggain_x = 1724
set maggain_y = 1659
set maggain_z = 1402
set align_mag_pitch = 1800
set align_mag_yaw = 900
set baro_hardware = SPL06
set receiver_type = MSP
set rc_filter_lpf_hz = 33
set rc_filter_smoothing_factor = 28
set serialrx_provider = IBUS
set blackbox_rate_denom = 2
set motor_pwm_protocol = DSHOT600
set failsafe_procedure = DROP
set align_board_roll = 1800
set align_board_pitch = 1800
set align_board_yaw = 1800
set current_meter_scale = 108
set current_meter_offset = -30
set servo_pwm_rate = 330
set applied_defaults = 2
set gps_provider = UBLOX7
set gps_ublox_use_galileo = ON
set gps_ublox_use_beidou = ON
set gps_ublox_use_glonass = ON
set deadband = 10
set yaw_deadband = 10
set airmode_type = THROTTLE_THRESHOLD
set inav_gps_flow_fusion_k =  0.000
set nav_mc_bank_angle = 40
set nav_mc_braking_bank_angle = 50
set debug_mode = ALTITUDE

# mixer_profile
mixer_profile 1

set motor_direction_inverted = ON
set model_preview_type = 3

# Mixer: motor mixer

mmix reset

mmix 0  1.000 -1.000  1.000 -1.000
mmix 1  1.000 -1.000 -1.000  1.000
mmix 2  1.000  1.000  1.000  1.000
mmix 3  1.000  1.000 -1.000 -1.000

# Mixer: servo mixer
smix reset

smix 0 4 10 100 0 -1
smix 1 5 11 100 0 -1

# mixer_profile
mixer_profile 2


# Mixer: motor mixer

# Mixer: servo mixer

# profile
profile 1

set mc_p_pitch = 29
set mc_i_pitch = 10
set mc_d_pitch = 3
set mc_cd_pitch = 0
set mc_p_roll = 29
set mc_i_roll = 10
set mc_d_roll = 3
set mc_cd_roll = 0
set mc_p_yaw = 152
set mc_i_yaw = 61
set mc_d_yaw = 8
set dterm_lpf_hz = 221
set thr_expo = 50
set tpa_breakpoint = 1000
set rc_expo = 80
set rc_yaw_expo = 80
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60
set manual_rc_expo = 40
set manual_pitch_rate = 4
set manual_yaw_rate = 1

# profile
profile 2


# profile
profile 3


# battery_profile
battery_profile 1

set bat_cells = 3
set throttle_idle =  10.000
set nav_mc_hover_thr = 1470

# battery_profile
battery_profile 2


# battery_profile
battery_profile 3


# restore original profile selection
mixer_profile 1
profile 1
battery_profile 1

# save configuration
save

# 