INAV_cli_TalonGT.txt

diff all

# version
# INAV/MATEKF411TE 4.1.0 Mar 29 2022 / 12:27:37 (eaa27a45)
# GCC-10.2.1 20201103 (release)

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# mixer

mmix reset

mmix 0  1.000  0.000  0.000  0.000

# servo mix
smix reset

smix 0 1 0 100 0 -1
smix 1 2 0 100 0 -1
smix 2 3 1 50 0 -1
smix 3 3 6 -50 0 -1
smix 4 4 1 -50 0 -1
smix 5 4 6 -50 0 -1

# servo
servo 1 1000 2000 1450 100
servo 2 1000 2000 1580 100
servo 3 1000 2000 1450 -100
servo 4 1000 2000 1450 -100

# safehome
safehome 0 1 530172822 88380670
safehome 1 1 530116293 88444032

# logic

# gvar

# pid

# feature
feature -TX_PROF_SEL
feature MOTOR_STOP
feature GPS
feature LED_STRIP
feature PWM_OUTPUT_ENABLE
feature FW_LAUNCH
feature FW_AUTOTRIM

# 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

# map

# serial
serial 0 64 115200 115200 0 115200
serial 1 2 115200 115200 0 115200
serial 30 2048 115200 115200 0 115200

# led
led 0 5,4::CB:2
led 1 7,4::CB:2
led 2 7,6::CB:6
led 3 5,6::CB:6

# color

# mode_color

# aux
aux 0 0 0 1700 2100
aux 1 1 1 1700 2100
aux 2 12 1 900 1300
aux 3 53 4 1700 2100
aux 4 11 2 1300 1700
aux 5 10 2 1700 2100
aux 6 28 4 1300 1700
aux 7 3 4 1300 2100
aux 8 21 6 1725 2100
aux 9 54 6 1300 1700
aux 10 42 5 1300 1700
aux 11 43 7 1125 2100
aux 12 44 5 1700 2100
aux 13 48 8 1325 2100

# adjrange
adjrange 0 0 7 1050 1100 53 3
adjrange 1 0 7 1100 1150 35 3
adjrange 2 0 7 1175 1225 34 3
adjrange 3 0 7 1250 1300 32 3
adjrange 4 0 7 1325 1375 33 3
adjrange 5 0 7 900 1000 0 3
adjrange 6 0 7 1400 1450 14 3
adjrange 7 0 7 1475 1525 15 3
adjrange 8 0 7 1525 1575 17 3
adjrange 9 0 7 1625 1675 10 3
adjrange 10 0 7 1675 1725 11 3
adjrange 11 0 7 1750 1800 13 3
adjrange 12 0 7 1850 2100 0 3

# rxrange

# temp_sensor

# wp
#wp 0 invalid

# osd_layout
osd_layout 0 0 13 1 V
osd_layout 0 1 1 11 V
osd_layout 0 2 0 0 V
osd_layout 0 3 8 6 V
osd_layout 0 7 25 3 V
osd_layout 0 9 1 3 H
osd_layout 0 10 22 1 V
osd_layout 0 11 2 10 V
osd_layout 0 13 25 9 V
osd_layout 0 14 2 2 V
osd_layout 0 15 24 5 V
osd_layout 0 20 16 15 H
osd_layout 0 21 3 14 H
osd_layout 0 22 15 11 V
osd_layout 0 23 2 14 V
osd_layout 0 26 25 7 V
osd_layout 0 27 24 10 H
osd_layout 0 28 23 14 V
osd_layout 0 29 20 2 H
osd_layout 0 30 2 13 V
osd_layout 0 31 1 0 H
osd_layout 0 32 1 12 V
osd_layout 0 33 1 3 V
osd_layout 0 34 10 2 V
osd_layout 0 35 1 5 V
osd_layout 0 40 8 14 V
osd_layout 0 41 2 8 V
osd_layout 0 42 2 7 V
osd_layout 0 85 25 10 V
osd_layout 0 96 24 6 V
osd_layout 0 105 28 2 H
osd_layout 0 106 24 11 H
osd_layout 0 108 17 1 V
osd_layout 0 109 1 1 V
osd_layout 0 110 25 2 V
osd_layout 0 112 7 1 V
osd_layout 1 0 13 1 V
osd_layout 1 1 1 11 V
osd_layout 1 2 0 0 V
osd_layout 1 3 8 6 V
osd_layout 1 7 24 3 H
osd_layout 1 9 1 3 H
osd_layout 1 10 10 1 H
osd_layout 1 11 2 10 V
osd_layout 1 12 1 4 V
osd_layout 1 13 25 9 V
osd_layout 1 14 2 2 H
osd_layout 1 15 24 5 V
osd_layout 1 20 16 15 H
osd_layout 1 21 3 14 H
osd_layout 1 22 15 11 V
osd_layout 1 23 2 14 V
osd_layout 1 28 23 14 V
osd_layout 1 30 2 13 V
osd_layout 1 31 1 0 H
osd_layout 1 32 1 12 V
osd_layout 1 33 1 3 V
osd_layout 1 34 10 2 V
osd_layout 1 40 8 14 H
osd_layout 1 41 2 8 H
osd_layout 1 42 2 7 H
osd_layout 1 86 24 12 H
osd_layout 1 87 24 11 H
osd_layout 1 107 24 10 H
osd_layout 2 0 13 1 V
osd_layout 2 1 1 11 V
osd_layout 2 7 24 3 H
osd_layout 2 9 1 3 H
osd_layout 2 10 10 1 H
osd_layout 2 11 2 10 H
osd_layout 2 12 0 4 H
osd_layout 2 13 25 9 H
osd_layout 2 14 2 2 H
osd_layout 2 15 24 2 V
osd_layout 2 16 7 10 V
osd_layout 2 17 7 11 V
osd_layout 2 20 16 15 H
osd_layout 2 21 3 14 H
osd_layout 2 23 2 14 H
osd_layout 2 25 27 4 V
osd_layout 2 27 24 10 H
osd_layout 2 28 23 13 H
osd_layout 2 30 0 14 V
osd_layout 2 31 1 0 H
osd_layout 2 33 1 3 H
osd_layout 2 34 10 2 H
osd_layout 2 40 8 14 H
osd_layout 2 41 20 3 V
osd_layout 2 42 20 4 V
osd_layout 2 57 7 8 V
osd_layout 2 62 8 4 V
osd_layout 2 63 8 3 V
osd_layout 2 67 18 7 V
osd_layout 2 68 18 6 V
osd_layout 2 75 7 7 V
osd_layout 2 76 7 6 V
osd_layout 3 0 3 9 V
osd_layout 3 1 1 11 H
osd_layout 3 3 8 6 V
osd_layout 3 8 9 1 V
osd_layout 3 11 2 11 V
osd_layout 3 29 20 14 V
osd_layout 3 30 1 13 V
osd_layout 3 32 1 12 V
osd_layout 3 33 1 10 V
osd_layout 3 50 22 11 H
osd_layout 3 86 24 10 V
osd_layout 3 87 24 9 V
osd_layout 3 105 1 9 V

# master
set gyro_main_lpf_hz = 25
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set acc_hardware = BMI270
set acczero_x = 24
set acczero_y = 6
set acczero_z = 17
set accgain_x = 4084
set accgain_y = 4090
set accgain_z = 4084
set align_mag = CW270FLIP
set mag_hardware = NONE
set baro_hardware = SPL06
set motor_pwm_protocol = STANDARD
set failsafe_procedure = RTH
set align_board_pitch = 50
set current_meter_scale = 317
set platform_type = AIRPLANE
set model_preview_type = 28
set 3d_deadband_low = 1425
set 3d_neutral = 1475
set imu_dcm_ki = 0
set small_angle = 180
set imu_acc_ignore_rate = 7
set imu_acc_ignore_slope = 4
set applied_defaults = 3
set gps_provider = UBLOX7
set gps_sbas_mode = EGNOS
set gps_ublox_use_galileo = ON
set airmode_type = STICK_CENTER_ONCE
set nav_wp_radius = 5000
set nav_rth_allow_landing = FS_ONLY
set nav_rth_alt_mode = AT_LEAST_LINEAR_DESCENT
set nav_rth_alt_control_override = ON
set nav_rth_altitude = 7000
set nav_rth_home_altitude = 5000
set nav_fw_control_smoothness = 2
set nav_fw_launch_max_angle = 180
set nav_fw_launch_motor_delay = 150
set name = Talon GT
set tz_offset = 120
set tz_automatic_dst = EU
set vtx_band = 2
set vtx_channel = 4
set vtx_power = 3
set vtx_low_power_disarm = UNTIL_FIRST_ARM

# profile
profile 1

set fw_p_pitch = 15
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 80
set fw_p_roll = 15
set fw_i_roll = 3
set fw_d_roll = 7
set fw_p_yaw = 20
set fw_i_yaw = 0
set fw_ff_yaw = 100
set max_angle_inclination_rll = 450
set max_angle_inclination_pit = 250
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.500
set fw_yaw_iterm_freeze_bank_angle = 1
set nav_fw_pos_z_p = 25
set nav_fw_pos_z_d = 7
set nav_fw_pos_xy_p = 55
set d_boost_min =  1.000
set d_boost_max =  1.000
set d_boost_max_at_acceleration =  7500.010
set tpa_breakpoint = 1510
set rc_expo = 30
set rc_yaw_expo = 30
set pitch_rate = 15
set yaw_rate = 9
set manual_roll_rate = 70
set manual_pitch_rate = 70

# profile
profile 2


# profile
profile 3


# battery_profile
battery_profile 1

set throttle_idle =  5.000
set nav_fw_cruise_thr = 1460
set nav_fw_max_thr = 1750
set nav_fw_launch_thr = 1950
set nav_fw_launch_idle_thr = 1580

# battery_profile
battery_profile 2


# battery_profile
battery_profile 3


# restore original profile selection
profile 1
battery_profile 1

# save configuration
save

#