1. # version
  2. # INAV/SPRACINGF3EVO 1.8.0 Nov 1 2017 / 06:23:05 (912d1315)
  3. # resources
  4. # mixer
  5. mixer HEX6X
  6. mmix reset
  7. # servo
  8. servo 0 1000 2000 1500 100 -1
  9. servo 1 1000 2000 1500 100 -1
  10. servo 2 1000 2000 1500 100 -1
  11. servo 3 1000 2000 1500 100 -1
  12. servo 4 1000 2000 1500 100 -1
  13. servo 5 1000 2000 1500 100 -1
  14. servo 6 1000 2000 1500 100 -1
  15. servo 7 1000 2000 1500 100 -1
  16. # servo mix
  17. smix reset
  18. # feature
  19. feature -RX_PPM
  20. feature -VBAT
  21. feature -RX_UIB
  22. feature -RX_SERIAL
  23. feature -MOTOR_STOP
  24. feature -SERVO_TILT
  25. feature -SOFTSERIAL
  26. feature -GPS
  27. feature -TELEMETRY
  28. feature -CURRENT_METER
  29. feature -3D
  30. feature -RX_PARALLEL_PWM
  31. feature -RX_MSP
  32. feature -RSSI_ADC
  33. feature -LED_STRIP
  34. feature -DASHBOARD
  35. feature -BLACKBOX
  36. feature -CHANNEL_FORWARDING
  37. feature -TRANSPONDER
  38. feature -AIRMODE
  39. feature -SUPEREXPO
  40. feature -VTX
  41. feature -RX_SPI
  42. feature -SOFTSPI
  43. feature -PWM_SERVO_DRIVER
  44. feature -PWM_OUTPUT_ENABLE
  45. feature -OSD
  46. feature VBAT
  47. feature GPS
  48. feature TELEMETRY
  49. feature CURRENT_METER
  50. feature RSSI_ADC
  51. feature TRANSPONDER
  52. feature AIRMODE
  53. feature PWM_OUTPUT_ENABLE
  54. # beeper
  55. beeper RUNTIME_CALIBRATION
  56. beeper HW_FAILURE
  57. beeper RX_LOST
  58. beeper RX_LOST_LANDING
  59. beeper DISARMING
  60. beeper ARMING
  61. beeper ARMING_GPS_FIX
  62. beeper BAT_CRIT_LOW
  63. beeper BAT_LOW
  64. beeper GPS_STATUS
  65. beeper RX_SET
  66. beeper ACTION_SUCCESS
  67. beeper ACTION_FAIL
  68. beeper READY_BEEP
  69. beeper MULTI_BEEPS
  70. beeper DISARM_REPEAT
  71. beeper ARMED
  72. beeper SYSTEM_INIT
  73. beeper ON_USB
  74. beeper LAUNCH_MODE
  75. beeper CAM_CONNECTION_OPEN
  76. beeper CAM_CONNECTION_CLOSED
  77. # map
  78. map TAER5678
  79. # name
  80. name -
  81. # serial
  82. serial 20 1 115200 38400 0 115200
  83. serial 0 32 115200 38400 0 115200
  84. serial 1 64 115200 38400 0 115200
  85. serial 2 2 115200 57600 0 115200
  86. # led
  87. led 0 0,0::C:0
  88. led 1 0,0::C:0
  89. led 2 0,0::C:0
  90. led 3 0,0::C:0
  91. led 4 0,0::C:0
  92. led 5 0,0::C:0
  93. led 6 0,0::C:0
  94. led 7 0,0::C:0
  95. led 8 0,0::C:0
  96. led 9 0,0::C:0
  97. led 10 0,0::C:0
  98. led 11 0,0::C:0
  99. led 12 0,0::C:0
  100. led 13 0,0::C:0
  101. led 14 0,0::C:0
  102. led 15 0,0::C:0
  103. led 16 0,0::C:0
  104. led 17 0,0::C:0
  105. led 18 0,0::C:0
  106. led 19 0,0::C:0
  107. led 20 0,0::C:0
  108. led 21 0,0::C:0
  109. led 22 0,0::C:0
  110. led 23 0,0::C:0
  111. led 24 0,0::C:0
  112. led 25 0,0::C:0
  113. led 26 0,0::C:0
  114. led 27 0,0::C:0
  115. led 28 0,0::C:0
  116. led 29 0,0::C:0
  117. led 30 0,0::C:0
  118. led 31 0,0::C:0
  119. # color
  120. color 0 0,0,0
  121. color 1 0,255,255
  122. color 2 0,0,255
  123. color 3 30,0,255
  124. color 4 60,0,255
  125. color 5 90,0,255
  126. color 6 120,0,255
  127. color 7 150,0,255
  128. color 8 180,0,255
  129. color 9 210,0,255
  130. color 10 240,0,255
  131. color 11 270,0,255
  132. color 12 300,0,255
  133. color 13 330,0,255
  134. color 14 0,0,0
  135. color 15 0,0,0
  136. # mode_color
  137. mode_color 0 0 1
  138. mode_color 0 1 11
  139. mode_color 0 2 2
  140. mode_color 0 3 13
  141. mode_color 0 4 10
  142. mode_color 0 5 3
  143. mode_color 1 0 5
  144. mode_color 1 1 11
  145. mode_color 1 2 3
  146. mode_color 1 3 13
  147. mode_color 1 4 10
  148. mode_color 1 5 3
  149. mode_color 2 0 10
  150. mode_color 2 1 11
  151. mode_color 2 2 4
  152. mode_color 2 3 13
  153. mode_color 2 4 10
  154. mode_color 2 5 3
  155. mode_color 3 0 8
  156. mode_color 3 1 11
  157. mode_color 3 2 4
  158. mode_color 3 3 13
  159. mode_color 3 4 10
  160. mode_color 3 5 3
  161. mode_color 4 0 7
  162. mode_color 4 1 11
  163. mode_color 4 2 3
  164. mode_color 4 3 13
  165. mode_color 4 4 10
  166. mode_color 4 5 3
  167. mode_color 5 0 9
  168. mode_color 5 1 11
  169. mode_color 5 2 2
  170. mode_color 5 3 13
  171. mode_color 5 4 10
  172. mode_color 5 5 3
  173. mode_color 6 0 6
  174. mode_color 6 1 10
  175. mode_color 6 2 1
  176. mode_color 6 3 0
  177. mode_color 6 4 0
  178. mode_color 6 5 2
  179. mode_color 6 6 3
  180. mode_color 6 7 6
  181. mode_color 6 8 0
  182. mode_color 6 9 0
  183. mode_color 6 10 0
  184. # aux
  185. aux 0 0 3 1850 2100
  186. aux 1 1 1 1975 2100
  187. aux 2 2 1 1725 1875
  188. aux 3 3 1 1550 1650
  189. aux 4 9 1 1550 1700
  190. aux 5 8 1 1350 1450
  191. aux 6 19 1 1125 1250
  192. aux 7 0 0 900 900
  193. aux 8 0 0 900 900
  194. aux 9 0 0 900 900
  195. aux 10 0 0 900 900
  196. aux 11 0 0 900 900
  197. aux 12 0 0 900 900
  198. aux 13 0 0 900 900
  199. aux 14 0 0 900 900
  200. aux 15 0 0 900 900
  201. aux 16 0 0 900 900
  202. aux 17 0 0 900 900
  203. aux 18 0 0 900 900
  204. aux 19 0 0 900 900
  205. # adjrange
  206. adjrange 0 0 0 900 900 0 0
  207. adjrange 1 0 0 900 900 0 0
  208. adjrange 2 0 0 900 900 0 0
  209. adjrange 3 0 0 900 900 0 0
  210. adjrange 4 0 0 900 900 0 0
  211. adjrange 5 0 0 900 900 0 0
  212. adjrange 6 0 0 900 900 0 0
  213. adjrange 7 0 0 900 900 0 0
  214. adjrange 8 0 0 900 900 0 0
  215. adjrange 9 0 0 900 900 0 0
  216. adjrange 10 0 0 900 900 0 0
  217. adjrange 11 0 0 900 900 0 0
  218. # rxrange
  219. rxrange 0 1000 2000
  220. rxrange 1 1000 2000
  221. rxrange 2 1000 2000
  222. rxrange 3 1000 2000
  223. # master
  224. set looptime = 2000
  225. set gyro_sync = OFF
  226. set gyro_sync_denom = 2
  227. set align_gyro = DEFAULT
  228. set gyro_hardware_lpf = 42HZ
  229. set gyro_lpf_hz = 60
  230. set moron_threshold = 32
  231. set gyro_notch1_hz = 0
  232. set gyro_notch1_cutoff = 1
  233. set gyro_notch2_hz = 0
  234. set gyro_notch2_cutoff = 1
  235. set vbat_adc_channel = 1
  236. set rssi_adc_channel = 3
  237. set current_adc_channel = 2
  238. set airspeed_adc_channel = 0
  239. set acc_notch_hz = 0
  240. set acc_notch_cutoff = 1
  241. set align_acc = DEFAULT
  242. set acc_hardware = MPU6500
  243. set acc_lpf_hz = 15
  244. set acczero_x = 14
  245. set acczero_y = 108
  246. set acczero_z = -60
  247. set accgain_x = 4089
  248. set accgain_y = 4085
  249. set accgain_z = 4057
  250. set rangefinder_hardware = NONE
  251. set align_mag = DEFAULT
  252. set mag_hardware = HMC5883
  253. set mag_declination = 0
  254. set magzero_x = 810
  255. set magzero_y = 1070
  256. set magzero_z = -8138
  257. set mag_calibration_time = 30
  258. set baro_hardware = BMP280
  259. set baro_use_median_filter = ON
  260. set pitot_hardware = NONE
  261. set pitot_use_median_filter = ON
  262. set pitot_noise_lpf = 0.600
  263. set pitot_scale = 1.000
  264. set receiver_type = SERIAL
  265. set mid_rc = 1500
  266. set min_check = 1100
  267. set max_check = 1900
  268. set rssi_channel = 0
  269. set rssi_scale = 100
  270. set rssi_invert = OFF
  271. set rc_smoothing = ON
  272. set serialrx_provider = SBUS
  273. set sbus_inversion = ON
  274. set rx_spi_rf_channel_count = 0
  275. set spektrum_sat_bind = 0
  276. set rx_min_usec = 885
  277. set rx_max_usec = 2115
  278. set blackbox_rate_num = 1
  279. set blackbox_rate_denom = 1
  280. set blackbox_device = SDCARD
  281. set sdcard_detect_inverted = ON
  282. set min_throttle = 1150
  283. set max_throttle = 1920
  284. set min_command = 1080
  285. set motor_pwm_rate = 400
  286. set motor_pwm_protocol = STANDARD
  287. set failsafe_delay = 5
  288. set failsafe_recovery_delay = 5
  289. set failsafe_off_delay = 200
  290. set failsafe_throttle = 1000
  291. set failsafe_throttle_low_delay = 100
  292. set failsafe_procedure = SET-THR
  293. set failsafe_stick_threshold = 50
  294. set failsafe_fw_roll_angle = -200
  295. set failsafe_fw_pitch_angle = 100
  296. set failsafe_fw_yaw_rate = -45
  297. set failsafe_min_distance = 0
  298. set failsafe_min_distance_procedure = DROP
  299. set align_board_roll = 0
  300. set align_board_pitch = 0
  301. set align_board_yaw = 2700
  302. set gimbal_mode = NORMAL
  303. set battery_capacity = 0
  304. set vbat_scale = 0
  305. set vbat_max_cell_voltage = 43
  306. set vbat_min_cell_voltage = 33
  307. set vbat_warning_cell_voltage = 35
  308. set current_meter_scale = 400
  309. set current_meter_offset = 0
  310. set multiwii_current_meter_output = OFF
  311. set current_meter_type = ADC
  312. set yaw_motor_direction = 1
  313. set yaw_jump_prevention_limit = 200
  314. set 3d_deadband_low = 1406
  315. set 3d_deadband_high = 1514
  316. set 3d_neutral = 1460
  317. set servo_center_pulse = 1500
  318. set servo_pwm_rate = 0
  319. set servo_lpf_hz = 20
  320. set flaperon_throw_offset = 200
  321. set tri_unarmed_servo = ON
  322. set reboot_character = 82
  323. set imu_dcm_kp = 2500
  324. set imu_dcm_ki = 50
  325. set imu_dcm_kp_mag = 10000
  326. set imu_dcm_ki_mag = 0
  327. set small_angle = 25
  328. set fixed_wing_auto_arm = OFF
  329. set disarm_kill_switch = ON
  330. set auto_disarm_delay = 5
  331. set gps_provider = UBLOX
  332. set gps_sbas_mode = EGNOS
  333. set gps_dyn_model = AIR_1G
  334. set gps_auto_config = ON
  335. set gps_auto_baud = ON
  336. set gps_min_sats = 6
  337. set deadband = 5
  338. set yaw_deadband = 5
  339. set pos_hold_deadband = 20
  340. set alt_hold_deadband = 50
  341. set 3d_deadband_throttle = 50
  342. set fw_autotune_overshoot_time = 100
  343. set fw_autotune_undershoot_time = 200
  344. set fw_autotune_threshold = 50
  345. set fw_autotune_ff_to_p_gain = 10
  346. set fw_autotune_ff_to_i_tc = 600
  347. set inav_auto_mag_decl = ON
  348. set inav_gravity_cal_tolerance = 5
  349. set inav_use_gps_velned = ON
  350. set inav_gps_delay = 200
  351. set inav_reset_altitude = FIRST_ARM
  352. set inav_max_surface_altitude = 200
  353. set inav_w_z_surface_p = 3.500
  354. set inav_w_z_surface_v = 6.100
  355. set inav_w_z_baro_p = 0.350
  356. set inav_w_z_gps_p = 0.200
  357. set inav_w_z_gps_v = 0.500
  358. set inav_w_xy_gps_p = 1.000
  359. set inav_w_xy_gps_v = 2.000
  360. set inav_w_z_res_v = 0.500
  361. set inav_w_xy_res_v = 0.500
  362. set inav_w_acc_bias = 0.010
  363. set inav_max_eph_epv = 1000.000
  364. set inav_baro_epv = 100.000
  365. set nav_disarm_on_landing = OFF
  366. set nav_use_midthr_for_althold = OFF
  367. set nav_extra_arming_safety = ON
  368. set nav_user_control_mode = CRUISE
  369. set nav_position_timeout = 5
  370. set nav_wp_radius = 100
  371. set nav_wp_safe_distance = 10000
  372. set nav_auto_speed = 300
  373. set nav_auto_climb_rate = 500
  374. set nav_manual_speed = 500
  375. set nav_manual_climb_rate = 200
  376. set nav_landing_speed = 200
  377. set nav_land_slowdown_minalt = 500
  378. set nav_land_slowdown_maxalt = 2000
  379. set nav_emerg_landing_speed = 500
  380. set nav_min_rth_distance = 500
  381. set nav_rth_climb_first = ON
  382. set nav_rth_climb_ignore_emerg = OFF
  383. set nav_rth_tail_first = OFF
  384. set nav_rth_allow_landing = ALWAYS
  385. set nav_rth_alt_mode = AT_LEAST
  386. set nav_rth_abort_threshold = 50000
  387. set nav_rth_altitude = 1000
  388. set nav_mc_bank_angle = 30
  389. set nav_mc_hover_thr = 1500
  390. set nav_mc_auto_disarm_delay = 2000
  391. set nav_fw_cruise_thr = 1400
  392. set nav_fw_min_thr = 1200
  393. set nav_fw_max_thr = 1700
  394. set nav_fw_bank_angle = 20
  395. set nav_fw_climb_angle = 20
  396. set nav_fw_dive_angle = 15
  397. set nav_fw_pitch2thr = 10
  398. set nav_fw_loiter_radius = 5000
  399. set nav_fw_land_dive_angle = 2
  400. set nav_fw_launch_velocity = 300
  401. set nav_fw_launch_accel = 1863
  402. set nav_fw_launch_max_angle = 45
  403. set nav_fw_launch_detect_time = 40
  404. set nav_fw_launch_thr = 1700
  405. set nav_fw_launch_idle_thr = 1000
  406. set nav_fw_launch_motor_delay = 500
  407. set nav_fw_launch_spinup_time = 100
  408. set nav_fw_launch_timeout = 5000
  409. set nav_fw_launch_climb_angle = 18
  410. set telemetry_switch = OFF
  411. set telemetry_inversion = ON
  412. set frsky_default_latitude = 0.000
  413. set frsky_default_longitude = 0.000
  414. set frsky_coordinates_format = 0
  415. set frsky_unit = METRIC
  416. set frsky_vfas_precision = 0
  417. set frsky_vfas_cell_voltage = OFF
  418. set hott_alarm_sound_interval = 5
  419. set smartport_uart_unidir = OFF
  420. set smartport_fuel_percent = OFF
  421. set ibus_telemetry_type = 0
  422. set ltm_update_rate = NORMAL
  423. set ledstrip_visual_beeper = OFF
  424. set i2c_speed = 400KHZ
  425. set cpu_underclock = OFF
  426. set debug_mode = NONE
  427. set acc_task_frequency = 500
  428. set attitude_task_frequency = 250
  429. set async_mode = NONE
  430. set throttle_tilt_comp_str = 0
  431. set input_filtering_mode = OFF
  432. set mode_range_logic_operator = OR
  433. set stats = OFF
  434. set stats_total_time = 0
  435. set stats_total_dist = 0
  436. set tz_offset = 0
  437. # profile
  438. profile 1
  439. set mc_p_pitch = 40
  440. set mc_i_pitch = 30
  441. set mc_d_pitch = 23
  442. set mc_p_roll = 40
  443. set mc_i_roll = 30
  444. set mc_d_roll = 23
  445. set mc_p_yaw = 85
  446. set mc_i_yaw = 45
  447. set mc_d_yaw = 0
  448. set mc_p_level = 20
  449. set mc_i_level = 15
  450. set mc_d_level = 75
  451. set fw_p_pitch = 5
  452. set fw_i_pitch = 7
  453. set fw_ff_pitch = 50
  454. set fw_p_roll = 5
  455. set fw_i_roll = 7
  456. set fw_ff_roll = 50
  457. set fw_p_yaw = 6
  458. set fw_i_yaw = 10
  459. set fw_ff_yaw = 60
  460. set fw_p_level = 20
  461. set fw_i_level = 5
  462. set fw_d_level = 75
  463. set max_angle_inclination_rll = 300
  464. set max_angle_inclination_pit = 300
  465. set dterm_lpf_hz = 40
  466. set yaw_lpf_hz = 30
  467. set dterm_setpoint_weight = 0.000
  468. set fw_iterm_throw_limit = 165
  469. set fw_reference_airspeed = 1000.000
  470. set fw_turn_assist_yaw_gain = 1.000
  471. set dterm_notch_hz = 0
  472. set dterm_notch_cutoff = 1
  473. set pidsum_limit = 500
  474. set yaw_p_limit = 300
  475. set iterm_ignore_threshold = 200
  476. set yaw_iterm_ignore_threshold = 50
  477. set rate_accel_limit_roll_pitch = 0
  478. set rate_accel_limit_yaw = 10000
  479. set heading_hold_rate_limit = 90
  480. set nav_mc_pos_z_p = 50
  481. set nav_mc_pos_z_i = 0
  482. set nav_mc_pos_z_d = 0
  483. set nav_mc_vel_z_p = 100
  484. set nav_mc_vel_z_i = 50
  485. set nav_mc_vel_z_d = 10
  486. set nav_mc_pos_xy_p = 65
  487. set nav_mc_pos_xy_i = 120
  488. set nav_mc_pos_xy_d = 10
  489. set nav_mc_vel_xy_p = 180
  490. set nav_mc_vel_xy_i = 15
  491. set nav_mc_vel_xy_d = 100
  492. set nav_fw_pos_z_p = 50
  493. set nav_fw_pos_z_i = 0
  494. set nav_fw_pos_z_d = 0
  495. set nav_fw_pos_xy_p = 75
  496. set nav_fw_pos_xy_i = 5
  497. set nav_fw_pos_xy_d = 8
  498. set rc_expo = 70
  499. set rc_yaw_expo = 20
  500. set thr_mid = 50
  501. set thr_expo = 0
  502. set roll_rate = 20
  503. set pitch_rate = 20
  504. set yaw_rate = 20
  505. set tpa_rate = 0
  506. set tpa_breakpoint = 1500
  507. #

inav dump hexa