# version

# INAV/NAZE 1.1.0 May 11 2016 / 02:37:17 (1f49891)

# pflags

# Persistent config flags: 0x00000001

# dump master

# mixer

mixer QUADX

mmix reset

smix reset

# feature

feature -RX_PPM

feature -VBAT

feature -INFLIGHT_ACC_CAL

feature -RX_SERIAL

feature -MOTOR_STOP

feature -SERVO_TILT

feature -SOFTSERIAL

feature -GPS

feature -FAILSAFE

feature -SONAR

feature -TELEMETRY

feature -CURRENT_METER

feature -3D

feature -RX_PARALLEL_PWM

feature -RX_MSP

feature -RSSI_ADC

feature -LED_STRIP

feature -DISPLAY

feature -ONESHOT125

feature -BLACKBOX

feature -CHANNEL_FORWARDING

feature RX_PPM

feature SERVO_TILT

feature GPS

feature FAILSAFE

# beeper

beeper GYRO_CALIBRATED

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 ACC_CALIBRATION

beeper ACC_CALIBRATION_FAIL

beeper READY_BEEP

beeper MULTI_BEEPS

beeper DISARM_REPEAT

beeper ARMED

beeper SYSTEM_INIT

beeper ON_USB

# map

map TAER1234

# serial

serial 0 1 115200 38400 0 115200

serial 1 2 115200 115200 0 115200

# led

led 0 15,15:ES:IA:0

led 1 15,8:E:WF:0

led 2 15,7:E:WF:0

led 3 15,0:NE:IA:0

led 4 8,0:N:F:0

led 5 7,0:N:F:0

led 6 0,0:NW:IA:0

led 7 0,7:W:WF:0

led 8 0,8:W:WF:0

led 9 0,15:SW:IA:0

led 10 7,15:S:WF:0

led 11 8,15:S:WF:0

led 12 7,7:U:WF:0

led 13 8,7:U:WF:0

led 14 7,8:D:WF:0

led 15 8,8:D:WF:0

led 16 8,9::R:3

led 17 9,10::R:3

led 18 10,11::R:3

led 19 10,12::R:3

led 20 9,13::R:3

led 21 8,14::R:3

led 22 7,14::R:3

led 23 6,13::R:3

led 24 5,12::R:3

led 25 5,11::R:3

led 26 6,10::R:3

led 27 7,9::R:3

led 28 0,0:::0

led 29 0,0:::0

led 30 0,0:::0

led 31 0,0:::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

set looptime = 2000

set emf_avoidance = OFF

set i2c_overclock = OFF

set gyro_sync = OFF

set gyro_sync_denom = 2

set mid_rc = 1500

set min_check = 1100

set max_check = 1900

set rssi_channel = 0

set rssi_scale = 30

set rssi_ppm_invert = OFF

set rc_smoothing = ON

set input_filtering_mode = OFF

set min_throttle = 1150

set max_throttle = 1850

set min_command = 1000

set servo_center_pulse = 1500

set 3d_deadband_low = 1406

set 3d_deadband_high = 1514

set 3d_neutral = 1460

set 3d_deadband_throttle = 1000

set motor_pwm_rate = 400

set servo_pwm_rate = 50

set disarm_kill_switch = ON

set auto_disarm_delay = 5

set small_angle = 25

set reboot_character = 82

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 inav_accz_unarmedcal = ON

set inav_use_gps_velned = OFF

set inav_gps_delay = 200

set inav_gps_min_sats = 6

set inav_w_z_baro_p = 0.350

set inav_w_z_gps_p = 0.200

set inav_w_z_gps_v = 0.200

set inav_w_xy_gps_p = 1.000

set inav_w_xy_gps_v = 2.000

set inav_w_z_res_v = 0.500

set inav_w_xy_res_v = 0.500

set inav_w_acc_bias = 0.010

set inav_max_eph_epv = 1000.000

set inav_baro_epv = 100.000

set nav_disarm_on_landing = OFF

set nav_use_midthr_for_althold = ON

set nav_extra_arming_safety = ON

set nav_user_control_mode = ATTI

set nav_position_timeout = 5

set nav_wp_radius = 100

set nav_max_speed = 300

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_rth_tail_first = OFF

set nav_rth_alt_mode = AT_LEAST

set nav_rth_altitude = 1000

set nav_mc_bank_angle = 30

set nav_mc_hover_thr = 1500

set nav_mc_min_fly_thr = 1200

set nav_fw_cruise_thr = 1400

set nav_fw_min_thr = 1200

set nav_fw_max_thr = 1700

set nav_fw_bank_angle = 20

set nav_fw_climb_angle = 20

set nav_fw_dive_angle = 15

set nav_fw_pitch2thr = 10

set nav_fw_roll2pitch = 75

set nav_fw_loiter_radius = 5000

set serialrx_provider = SPEK1024

set spektrum_sat_bind = 0

set telemetry_switch = OFF

set telemetry_inversion = OFF

set frsky_default_lattitude = 0.000

set frsky_default_longitude = 0.000

set frsky_coordinates_format = 0

set frsky_unit = IMPERIAL

set frsky_vfas_precision = 0

set hott_alarm_sound_interval = 5

set battery_capacity = 0

set vbat_scale = 110

set vbat_max_cell_voltage = 43

set vbat_min_cell_voltage = 33

set vbat_warning_cell_voltage = 35

set current_meter_scale = 400

set current_meter_offset = 0

set multiwii_current_meter_output = OFF

set current_meter_type = ADC

set align_gyro = DEFAULT

set align_acc = DEFAULT

set align_mag = DEFAULT

set align_board_roll = 0

set align_board_pitch = 0

set align_board_yaw = 900

set gyro_lpf = 42HZ

set moron_threshold = 32

set imu_dcm_kp = 2500

set imu_dcm_ki = 50

set imu_dcm_kp_mag = 10000

set imu_dcm_ki_mag = 0

set pos_hold_deadband = 20

set alt_hold_deadband = 50

set yaw_control_direction = 1

set yaw_motor_direction = 1

set yaw_jump_prevention_limit = 200

set tri_unarmed_servo = ON

set servo_lowpass_freq = 400

set servo_lowpass_enable = OFF

set failsafe_delay = 10

set failsafe_off_delay = 200

set failsafe_throttle = 1000

set failsafe_kill_switch = OFF

set failsafe_throttle_low_delay = 100

set failsafe_procedure = SET-THR

set rx_min_usec = 885

set rx_max_usec = 2115

set acc_hardware = 0

set baro_use_median_filter = ON

set baro_hardware = 0

set mag_hardware = 0

set blackbox_rate_num = 1

set blackbox_rate_denom = 1

set blackbox_device = SERIAL

set magzero_x = 0

set magzero_y = 0

set magzero_z = 0

set acczero_x = 0

set acczero_y = 0

set acczero_z = 0

set accgain_x = 4096

set accgain_y = 4096

set accgain_z = 4096

# rxfail

rxfail 0 a

rxfail 1 a

rxfail 2 a

rxfail 3 a

rxfail 4 h

rxfail 5 h

rxfail 6 h

rxfail 7 h

rxfail 8 h

rxfail 9 h

rxfail 10 h

rxfail 11 h

rxfail 12 h

rxfail 13 h

rxfail 14 h

rxfail 15 h

rxfail 16 h

rxfail 17 h

# dump profile

# profile

profile 0

# aux

aux 0 7 7 900 2100

aux 1 3 2 1400 1625

aux 2 10 2 1400 1625

aux 3 9 2 1900 2100

aux 4 24 3 1900 2100

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

# servo

servo 0 1000 2000 1500 90 90 50 4

servo 1 1000 2000 1500 90 90 30 5

servo 2 1000 2000 1500 90 90 100 -1

servo 3 1000 2000 1500 90 90 100 -1

servo 4 1000 2000 1500 90 90 100 -1

servo 5 1000 2000 1500 90 90 100 -1

servo 6 1000 2000 1500 90 90 100 -1

servo 7 1000 2000 1500 90 90 100 -1

set nav_alt_p = 50

set nav_alt_i = 0

set nav_alt_d = 0

set nav_vel_p = 100

set nav_vel_i = 50

set nav_vel_d = 10

set nav_pos_p = 65

set nav_pos_i = 120

set nav_pos_d = 0

set nav_posr_p = 180

set nav_posr_i = 15

set nav_posr_d = 100

set nav_navr_p = 10

set nav_navr_i = 5

set nav_navr_d = 8

set deadband = 5

set yaw_deadband = 5

set throttle_tilt_comp_str = 0

set default_rate_profile = 0

set gimbal_mode = NORMAL

set mag_declination = 0

set p_pitch = 30

set i_pitch = 20

set d_pitch = 70

set p_roll = 30

set i_roll = 20

set d_roll = 70

set p_yaw = 100

set i_yaw = 40

set d_yaw = 0

set p_level = 120

set i_level = 15

set d_level = 75

set max_angle_inclination_rll = 300

set max_angle_inclination_pit = 300

set gyro_soft_lpf_hz = 60

set acc_soft_lpf_hz = 15

set dterm_lpf_hz = 40

set yaw_lpf_hz = 30

set yaw_p_limit = 300

# dump rates

# rateprofile

rateprofile 0

set rc_rate = 90

set rc_expo = 70

set rc_yaw_expo = 20

set thr_mid = 50

set thr_expo = 0

set roll_rate = 30

set pitch_rate = 30

set yaw_rate = 30

set tpa_rate = 0

set tpa_breakpoint = 1500