# version

# INAV/ANYFCF7 1.7.0 May 3 2017 / 11:31:42 (104b66c)

# resources

# mixer

mixer FLYING_WING

mmix reset

# servo

servo 0 1000 2000 1500 100 -1

servo 1 1000 2000 1500 100 -1

servo 2 1000 2000 1500 70 -1

servo 3 1000 2000 1522 -70 -1

servo 4 1000 2000 1455 100 -1

servo 5 1000 2000 1500 100 -1

servo 6 1000 2000 1500 100 -1

servo 7 1000 2000 1500 100 -1

# servo mix

smix reset

# feature

feature -RX_PPM

feature -VBAT

feature -RX_SERIAL

feature -MOTOR_STOP

feature -SERVO_TILT

feature -SOFTSERIAL

feature -GPS

feature -TELEMETRY

feature -CURRENT_METER

feature -3D

feature -RX_PARALLEL_PWM

feature -RX_MSP

feature -RSSI_ADC

feature -LED_STRIP

feature -DASHBOARD

feature -BLACKBOX

feature -CHANNEL_FORWARDING

feature -TRANSPONDER

feature -AIRMODE

feature -SUPEREXPO

feature -VTX

feature -RX_SPI

feature -SOFTSPI

feature -PWM_SERVO_DRIVER

feature -PWM_OUTPUT_ENABLE

feature -OSD

feature RX_SERIAL

feature GPS

feature BLACKBOX

feature PWM_OUTPUT_ENABLE

# map

map TAER1234

# serial

serial 20 1 115200 38400 0 115200

serial 0 1 57600 38400 0 115200

serial 1 128 57600 38400 0 115200

serial 2 0 57600 38400 0 115200

serial 3 64 115200 38400 0 115200

serial 4 0 115200 38400 0 115200

serial 5 0 115200 38400 0 115200

serial 6 0 115200 38400 0 115200

serial 7 2 57600 38400 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 3 1900 2100

aux 1 2 2 1525 1675

aux 2 20 2 1725 1900

aux 3 3 0 1350 1600

aux 4 9 0 1350 1600

aux 5 8 0 1850 2100

aux 6 10 2 1950 2100

aux 7 28 1 1650 2100

aux 8 17 3 1650 2075

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

# master

set looptime = 2000

set gyro_sync = ON

set gyro_sync_denom = 2

set align_gyro = DEFAULT

set gyro_hardware_lpf = 20HZ

set gyro_lpf_hz = 60

set moron_threshold = 32

set gyro_notch1_hz = 0

set gyro_notch1_cutoff = 1

set gyro_notch2_hz = 0

set gyro_notch2_cutoff = 1

set align_acc = DEFAULT

set acc_hardware = MPU6000

set acc_lpf_hz = 15

set acczero_x = 126

set acczero_y = -43

set acczero_z = -385

set accgain_x = 4089

set accgain_y = 4072

set accgain_z = 4019

set align_mag = DEFAULT

set mag_hardware = NONE

set mag_declination = 0

set magzero_x = 0

set magzero_y = 0

set magzero_z = 0

set mag_calibration_time = 30

set baro_hardware = NONE

set baro_use_median_filter = ON

set pitot_hardware = NONE

set pitot_use_median_filter = ON

set pitot_noise_lpf = 0.600

set pitot_scale = 1.000

set mid_rc = 1500

set min_check = 1100

set max_check = 1900

set rssi_channel = 16

set rssi_scale = 30

set rssi_invert = OFF

set rc_smoothing = ON

set serialrx_provider = SBUS

set sbus_inversion = ON

set rx_min_usec = 885

set rx_max_usec = 2115

set blackbox_rate_num = 1

set blackbox_rate_denom = 1

set blackbox_device = SDCARD

set min_throttle = 1150

set max_throttle = 1850

set min_command = 1000

set motor_pwm_rate = 50

set motor_pwm_protocol = STANDARD

set failsafe_delay = 5

set failsafe_recovery_delay = 5

set failsafe_off_delay = 200

set failsafe_throttle = 1000

set failsafe_throttle_low_delay = 100

set failsafe_procedure = SET-THR

set failsafe_stick_threshold = 50

set failsafe_fw_roll_angle = -200

set failsafe_fw_pitch_angle = 100

set failsafe_fw_yaw_rate = -45

set align_board_roll = 0

set align_board_pitch = 0

set align_board_yaw = 1800

set gimbal_mode = NORMAL

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 yaw_motor_direction = 1

set yaw_jump_prevention_limit = 200

set 3d_deadband_low = 1406

set 3d_deadband_high = 1514

set 3d_neutral = 1460

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 fixed_wing_auto_arm = OFF

set disarm_kill_switch = ON

set auto_disarm_delay = 5

set gps_provider = UBLOX

set gps_sbas_mode = EGNOS

set gps_dyn_model = AIR_1G

set gps_auto_config = ON

set gps_auto_baud = ON

set gps_min_sats = 6

set deadband = 5

set yaw_deadband = 5

set pos_hold_deadband = 20

set alt_hold_deadband = 50

set 3d_deadband_throttle = 50

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_gps_delay = 200

set inav_reset_altitude = FIRST_ARM

set inav_max_sonar_altitude = 200

set inav_w_z_sonar_p = 3.500

set inav_w_z_sonar_v = 6.100

set inav_w_z_baro_p = 0.350

set inav_w_z_gps_p = 0.200

set inav_w_z_gps_v = 0.500

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 = OFF

set nav_extra_arming_safety = OFF

set nav_user_control_mode = CRUISE

set nav_position_timeout = 5

set nav_wp_radius = 100

set nav_wp_safe_distance = 10000

set nav_auto_speed = 450

set nav_auto_climb_rate = 400

set nav_manual_speed = 550

set nav_manual_climb_rate = 400

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_climb_first = ON

set nav_rth_climb_ignore_emerg = OFF

set nav_rth_tail_first = OFF

set nav_rth_allow_landing = ON

set nav_rth_alt_mode = AT_LEAST

set nav_rth_abort_threshold = 50000

set nav_rth_altitude = 1000

set nav_mc_bank_angle = 40

set nav_mc_hover_thr = 1500

set nav_mc_auto_disarm_delay = 2000

set nav_fw_cruise_thr = 1400

set nav_fw_min_thr = 1200

set nav_fw_max_thr = 1700

set nav_fw_bank_angle = 40

set nav_fw_climb_angle = 20

set nav_fw_dive_angle = 20

set nav_fw_pitch2thr = 10

set nav_fw_loiter_radius = 3500

set nav_fw_launch_velocity = 300

set nav_fw_launch_accel = 1863

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_timeout = 5000

set nav_fw_launch_climb_angle = 20

set telemetry_switch = OFF

set telemetry_inversion = OFF

set frsky_default_latitude = 0.000

set frsky_default_longitude = 0.000

set frsky_coordinates_format = 0

set frsky_unit = IMPERIAL

set frsky_vfas_precision = 0

set frsky_vfas_cell_voltage = OFF

set hott_alarm_sound_interval = 5

set smartport_uart_unidir = OFF

set ibus_telemetry_type = 0

set ltm_update_rate = NORMAL

set ledstrip_visual_beeper = OFF

set i2c_overclock = OFF

set debug_mode = NONE

set acc_task_frequency = 500

set attitude_task_frequency = 250

set async_mode = NONE

set throttle_tilt_comp_str = 0

set input_filtering_mode = OFF

set mode_range_logic_operator = OR

# profile

profile 1

set mc_p_pitch = 40

set mc_i_pitch = 30

set mc_d_pitch = 23

set mc_p_roll = 40

set mc_i_roll = 30

set mc_d_roll = 23

set mc_p_yaw = 85

set mc_i_yaw = 45

set mc_d_yaw = 0

set mc_p_level = 20

set mc_i_level = 15

set mc_d_level = 75

set fw_p_pitch = 4

set fw_i_pitch = 8

set fw_ff_pitch = 39

set fw_p_roll = 3

set fw_i_roll = 7

set fw_ff_roll = 30

set fw_p_yaw = 50

set fw_i_yaw = 45

set fw_ff_yaw = 0

set fw_p_level = 10

set fw_i_level = 15

set fw_d_level = 75

set max_angle_inclination_rll = 400

set max_angle_inclination_pit = 400

set dterm_lpf_hz = 40

set yaw_lpf_hz = 30

set dterm_setpoint_weight = 0.000

set fw_iterm_throw_limit = 165

set fw_reference_airspeed = 0

set dterm_notch_hz = 0

set dterm_notch_cutoff = 1

set pidsum_limit = 500

set yaw_p_limit = 300

set iterm_ignore_threshold = 200

set yaw_iterm_ignore_threshold = 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_pos_z_i = 0

set nav_mc_pos_z_d = 0

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_pos_xy_i = 120

set nav_mc_pos_xy_d = 10

set nav_mc_vel_xy_p = 180

set nav_mc_vel_xy_i = 15

set nav_mc_vel_xy_d = 100

set nav_fw_pos_z_p = 50

set nav_fw_pos_z_i = 0

set nav_fw_pos_z_d = 0

set nav_fw_pos_xy_p = 75

set nav_fw_pos_xy_i = 5

set nav_fw_pos_xy_d = 8

set rc_expo = 70

set rc_yaw_expo = 20

set thr_mid = 50

set thr_expo = 0

set roll_rate = 35

set pitch_rate = 9

set yaw_rate = 20

set tpa_rate = 33

set tpa_breakpoint = 1300