# version
# INAV/ATOMRCF405NAVI 6.0.0 Feb  9 2023 / 10:03:44 (92b237e5)
# GCC-10.2.1 20201103 (release)

# start the command batch
batch start

# resources

# Mixer: motor mixer

mmix reset

mmix 0  1.000  0.000  0.000  0.000

# Mixer: servo mixer
smix reset

smix 0 2 0 50 0 -1
smix 1 2 1 60 0 -1
smix 2 1 0 -50 0 -1
smix 3 1 1 60 0 -1

# Outputs [servo]
servo 1 1000 2000 1521 100
servo 2 1000 2000 1431 -100

# safehome

# features
feature MOTOR_STOP
feature GPS
feature PWM_OUTPUT_ENABLE
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
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y

# Receiver: Channel map

# Ports
serial 3 2 115200 115200 0 115200

# LEDs

# LED color

# LED mode_color

# Modes [aux]
aux 0 0 0 1675 2100
aux 1 1 1 900 1300
aux 2 12 1 1700 2100
aux 3 53 1 1325 1725
aux 4 10 3 1300 2100
aux 5 26 0 1700 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]
osd_layout 0 0 23 0 H
osd_layout 0 1 1 14 V
osd_layout 0 3 8 6 V
osd_layout 0 7 1 1 V
osd_layout 0 9 10 1 V
osd_layout 0 11 7 14 V
osd_layout 0 12 1 12 V
osd_layout 0 13 1 8 V
osd_layout 0 14 24 1 V
osd_layout 0 15 23 8 V
osd_layout 0 22 14 13 V
osd_layout 0 23 12 14 V
osd_layout 0 28 23 14 V
osd_layout 0 30 2 3 V
osd_layout 0 32 1 13 V
osd_layout 0 40 24 2 V
osd_layout 0 41 1 2 V
osd_layout 0 42 1 3 V

# Programming: logic

# Programming: global variables

# Programming: PID controllers

# master
set gyro_main_lpf_hz = 25
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set gyro_zero_x = 2
set gyro_zero_y = 3
set gyro_zero_z = 2
set ins_gravity_cmss =  988.642
set acc_hardware = BMI270
set acczero_x = 44
set acczero_y = -48
set acczero_z = -23
set accgain_x = 4094
set accgain_y = 4108
set accgain_z = 4100
set align_mag = CW270FLIP
set mag_hardware = NONE
set baro_hardware = SPL06
set serialrx_provider = CRSF
set motor_pwm_protocol = DSHOT600
set failsafe_procedure = RTH
set platform_type = AIRPLANE
set model_preview_type = 8
set small_angle = 180
set applied_defaults = 3
set airmode_type = STICK_CENTER_ONCE
set inav_w_z_baro_p =  0.350
set nav_extra_arming_safety = ALLOW_BYPASS
set nav_wp_radius = 5000
set nav_wp_max_safe_distance = 500
set nav_rth_allow_landing = FS_ONLY
set nav_rth_altitude = 5000
set nav_fw_bank_angle = 45
set nav_fw_loiter_radius = 10000
set nav_fw_control_smoothness = 2
set nav_fw_launch_max_angle = 75
set nav_fw_launch_motor_delay = 100
set nav_fw_launch_spinup_time = 1000
set nav_fw_launch_max_altitude = 5000
set nav_fw_launch_climb_angle = 25

# profile
profile 1

set fw_p_pitch = 15
set fw_i_pitch = 20
set fw_d_pitch = 5
set fw_ff_pitch = 45
set fw_p_roll = 11
set fw_i_roll = 10
set fw_d_roll = 5
set fw_ff_roll = 35
set fw_p_yaw = 20
set fw_i_yaw = 30
set fw_d_yaw = 20
set fw_ff_yaw = 50
set fw_p_level = 30
set max_angle_inclination_rll = 450
set max_angle_inclination_pit = 350
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.300
set nav_fw_pos_z_p = 35
set nav_fw_pos_xy_p = 70
set d_boost_min =  1.000
set d_boost_max =  1.000
set fw_level_pitch_trim =  4.000
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 50
set pitch_rate = 40
set yaw_rate = 3

# battery_profile
battery_profile 1

set throttle_idle =  5.000
set nav_fw_cruise_thr = 1300

# save configuration
save