board_name CRAZYBEEF4FR
manufacturer_id HAMO

# resources
resource BEEPER 1 C15
resource MOTOR 1 B10
resource MOTOR 2 B06
resource MOTOR 3 B07
resource MOTOR 4 B08
resource PPM 1 A03
resource PWM 1 A02
resource PWM 2 A09
resource PWM 3 A10
resource LED_STRIP 1 A00
resource SERIAL_TX 1 A09
resource SERIAL_TX 2 A02
resource SERIAL_RX 1 A10
resource SERIAL_RX 2 A03
resource LED 1 C13
resource SPI_SCK 1 A05
resource SPI_SCK 2 B13
resource SPI_SCK 3 B03
resource SPI_MISO 1 A06
resource SPI_MISO 2 B14
resource SPI_MISO 3 B04
resource SPI_MOSI 1 A07
resource SPI_MOSI 2 B15
resource SPI_MOSI 3 B05
resource ADC_BATT 1 B00
resource ADC_CURR 1 B01
resource OSD_CS 1 B12
resource RX_SPI_CS 1 A15
resource RX_SPI_EXTI 1 C14
resource RX_SPI_BIND 1 B02
resource RX_SPI_LED 1 B09
resource GYRO_EXTI 1 A01
resource GYRO_CS 1 A04

# timer
timer A03 AF3
# pin A03: TIM9 CH2 (AF3)
timer B10 AF1
# pin B10: TIM2 CH3 (AF1)
timer B06 AF2
# pin B06: TIM4 CH1 (AF2)
timer B07 AF2
# pin B07: TIM4 CH2 (AF2)
timer B08 AF2
# pin B08: TIM4 CH3 (AF2)
timer A00 AF2
# pin A00: TIM5 CH1 (AF2)
timer A02 AF3
# pin A02: TIM9 CH1 (AF3)
timer A09 AF1
# pin A09: TIM1 CH2 (AF1)
timer A10 AF1
# pin A10: TIM1 CH3 (AF1)

# dma
dma ADC 1 1
# ADC 1: DMA2 Stream 4 Channel 0
dma pin B10 0
# pin B10: DMA1 Stream 1 Channel 3
dma pin B06 0
# pin B06: DMA1 Stream 0 Channel 2
dma pin B07 0
# pin B07: DMA1 Stream 3 Channel 2
dma pin B08 0
# pin B08: DMA1 Stream 7 Channel 2
dma pin A00 0
# pin A00: DMA1 Stream 2 Channel 6
dma pin A09 0
# pin A09: DMA2 Stream 6 Channel 0
dma pin A10 0
# pin A10: DMA2 Stream 6 Channel 0

# feature
feature OSD
feature RX_SPI

# master
set dshot_burst = AUTO
set dshot_bitbang = OFF
set rx_spi_protocol = FRSKY_X
set rx_spi_bus = 3
set motor_pwm_protocol = DSHOT600
set current_meter = ADC
set battery_meter = ADC
set ibata_scale = 179
set beeper_inversion = ON
set beeper_od = OFF
set system_hse_mhz = 8
set max7456_spi_bus = 2
set gyro_1_bustype = SPI
set gyro_1_spibus = 1
set gyro_1_sensor_align = CW90

# name: M6 HDZERO

# feature
feature -RX_PARALLEL_PWM

# serial
serial 0 2048 115200 57600 0 115200
serial 1 1 115200 57600 0 115200

# beeper
beeper -ARMED

# map
map TAER1234

# aux
aux 0 0 0 1300 2100 0 0
aux 1 1 1 1150 1550 0 0
aux 2 28 1 1550 2100 0 0
aux 3 35 3 1550 2100 0 0

# vtxtable
vtxtable bands 6
vtxtable channels 8
vtxtable band 1 BOSCAM_A A FACTORY    0    0    0    0    0    0    0    0
vtxtable band 2 BOSCAM_B B FACTORY    0    0    0    0    0    0    0    0
vtxtable band 3 BOSCAM_E E FACTORY    0    0    0    0    0    0    0    0
vtxtable band 4 FATSHARK F FACTORY    0 5760    0 5800    0    0    0    0
vtxtable band 5 RACEBAND R FACTORY 5658 5695 5732 5769 5806 5843 5880 5917
vtxtable band 6 IMD6     I FACTORY    0    0    0    0    0    0    0    0
vtxtable powerlevels 3
vtxtable powervalues 14 23 0
vtxtable powerlabels 25 200 0

# master
set gyro_lpf1_static_hz = 0
set gyro_lpf2_type = PT2
set gyro_lpf2_static_hz = 375
set dyn_notch_count = 1
set dyn_notch_q = 500
set dyn_notch_min_hz = 100
set gyro_lpf1_dyn_min_hz = 187
set gyro_lpf1_dyn_max_hz = 375
set acc_calibration = -106,-98,-1,1
set mag_hardware = NONE
set baro_hardware = NONE
set rx_spi_protocol = FRSKY_D
set dshot_idle_value = 600
set dshot_burst = OFF
set dshot_bidir = ON
set motor_pwm_protocol = DSHOT300
set motor_poles = 12
set vbat_max_cell_voltage = 440
set vbat_min_cell_voltage = 290
set vbat_warning_cell_voltage = 300
set yaw_motors_reversed = ON
set small_angle = 180
set simplified_gyro_filter_multiplier = 75
set osd_warn_esc_fail = OFF
set osd_vbat_pos = 2093
set osd_rssi_pos = 2081
set osd_link_quality_pos = 410
set osd_rssi_dbm_pos = 377
set osd_tim_1_pos = 54
set osd_tim_2_pos = 2104
set osd_flymode_pos = 2521
set osd_g_force_pos = 65
set osd_throttle_pos = 2457
set osd_vtx_channel_pos = 2081
set osd_crosshairs_pos = 2253
set osd_current_pos = 2464
set osd_mah_drawn_pos = 2496
set osd_craft_name_pos = 2507
set osd_warnings_pos = 329
set osd_disarmed_pos = 2476
set osd_displayport_device = MSP
set vtx_band = 5
set vtx_channel = 4
set vtx_power = 2
set vtx_low_power_disarm = ON
set vtx_freq = 5769
set displayport_msp_serial = 1
set frsky_spi_tx_id = 3,114,1
set frsky_spi_offset = -8
set frsky_spi_bind_hop_data = 0,30,60,91,120,150,180,210,5,35,65,95,125,155,185,215,10,40,70,100,130,160,190,221,15,45,75,105,135,165,195,225,20,50,80,110,140,170,200,230,25,55,85,115,145,175,205,0,0,0
set gyro_1_align_yaw = 900
set name = M6 HDZERO

profile 0

# profile 0
set p_pitch = 80
set i_pitch = 25
set d_pitch = 80
set f_pitch = 100
set p_roll = 80
set i_roll = 25
set d_roll = 80
set f_roll = 100
set p_yaw = 90
set f_yaw = 100

profile 1

profile 2

# profile 2
set dterm_lpf1_dyn_min_hz = 101
set dterm_lpf1_dyn_max_hz = 202
set dterm_lpf1_static_hz = 101
set dterm_lpf2_static_hz = 202
set anti_gravity_gain = 4500
set iterm_relax_cutoff = 20
set p_pitch = 66
set i_pitch = 77
set d_pitch = 61
set f_pitch = 160
set p_roll = 67
set i_roll = 78
set d_roll = 60
set f_roll = 162
set p_yaw = 67
set i_yaw = 78
set f_yaw = 162
set d_min_roll = 60
set d_min_pitch = 61
set d_max_advance = 0
set feedforward_jitter_factor = 5
set feedforward_boost = 18
set feedforward_max_rate_limit = 95
set simplified_master_multiplier = 120
set simplified_i_gain = 65
set simplified_d_gain = 200
set simplified_pi_gain = 150
set simplified_dmax_gain = 0
set simplified_feedforward_gain = 135
set simplified_pitch_d_gain = 90
set simplified_pitch_pi_gain = 95
set simplified_dterm_filter_multiplier = 135

# restore original profile selection
profile 2

rateprofile 0

# rateprofile 0
set roll_rc_rate = 20
set pitch_rc_rate = 20
set yaw_rc_rate = 20
set roll_expo = 50
set pitch_expo = 50
set yaw_expo = 25
set roll_srate = 50
set pitch_srate = 50
set yaw_srate = 50
set tpa_rate = 80
set tpa_breakpoint = 1250

rateprofile 1

rateprofile 2

rateprofile 3

rateprofile 4

rateprofile 5

# restore original rateprofile selection
rateprofile 0

# save configuration
save