# version # Betaflight / STM32F411 (S411) 4.4.0 Mar 10 2023 / 20:33:57 (4605309d8) MSP API: 1.45 # config: YES # start the command batch batch start board_name CRAZYBEEF4FR manufacturer_id HAMO mcu_id 004700233439510b36383737 signature # name: - # resources resource BEEPER 1 C15 resource MOTOR 1 B08 resource MOTOR 2 B07 resource MOTOR 3 B06 resource MOTOR 4 B10 resource MOTOR 5 NONE resource MOTOR 6 NONE resource MOTOR 7 NONE resource MOTOR 8 NONE resource LED_STRIP 1 A00 resource SERIAL_TX 1 A09 resource SERIAL_TX 2 A02 resource SERIAL_TX 3 NONE resource SERIAL_TX 4 NONE resource SERIAL_TX 5 NONE resource SERIAL_TX 6 NONE resource SERIAL_TX 7 NONE resource SERIAL_TX 8 NONE resource SERIAL_TX 9 NONE resource SERIAL_TX 10 NONE resource SERIAL_TX 11 NONE resource SERIAL_TX 12 NONE resource SERIAL_RX 1 A10 resource SERIAL_RX 2 A03 resource SERIAL_RX 3 NONE resource SERIAL_RX 4 NONE resource SERIAL_RX 5 NONE resource SERIAL_RX 6 NONE resource SERIAL_RX 7 NONE resource SERIAL_RX 8 NONE resource SERIAL_RX 9 NONE resource SERIAL_RX 10 NONE resource SERIAL_RX 11 NONE resource SERIAL_RX 12 NONE resource INVERTER 1 NONE resource INVERTER 2 NONE resource INVERTER 3 NONE resource INVERTER 4 NONE resource INVERTER 5 NONE resource INVERTER 6 NONE resource INVERTER 7 NONE resource INVERTER 8 NONE resource INVERTER 9 NONE resource INVERTER 10 NONE resource INVERTER 11 NONE resource INVERTER 12 NONE resource I2C_SCL 1 NONE resource I2C_SCL 2 NONE resource I2C_SCL 3 NONE resource I2C_SDA 1 NONE resource I2C_SDA 2 NONE resource I2C_SDA 3 NONE resource LED 1 C13 resource LED 2 NONE resource LED 3 NONE 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 ESCSERIAL 1 NONE resource ADC_BATT 1 B00 resource ADC_RSSI 1 NONE resource ADC_CURR 1 B01 resource ADC_EXT 1 NONE resource PINIO 1 NONE resource PINIO 2 NONE resource PINIO 3 NONE resource PINIO 4 NONE 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 RX_SPI_CC2500_TX_EN 1 NONE resource RX_SPI_CC2500_LNA_EN 1 NONE resource RX_SPI_CC2500_ANT_SEL 1 NONE resource GYRO_EXTI 1 A01 resource GYRO_EXTI 2 NONE resource GYRO_CS 1 A04 resource GYRO_CS 2 NONE resource USB_DETECT 1 NONE resource PULLUP 1 NONE resource PULLUP 2 NONE resource PULLUP 3 NONE resource PULLUP 4 NONE resource PULLDOWN 1 NONE resource PULLDOWN 2 NONE resource PULLDOWN 3 NONE resource PULLDOWN 4 NONE # 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 SPI_MOSI 1 NONE dma SPI_MOSI 2 NONE dma SPI_MOSI 3 NONE dma SPI_MISO 1 NONE dma SPI_MISO 2 NONE dma SPI_MISO 3 NONE dma SPI_TX 1 NONE dma SPI_TX 2 NONE dma SPI_TX 3 NONE dma SPI_RX 1 NONE dma SPI_RX 2 NONE dma SPI_RX 3 NONE dma ADC 1 1 # ADC 1: DMA2 Stream 4 Channel 0 dma ADC 2 NONE dma ADC 3 NONE dma UART_TX 1 NONE dma UART_TX 2 NONE dma UART_TX 3 NONE dma UART_TX 4 NONE dma UART_TX 5 NONE dma UART_TX 6 NONE dma UART_TX 7 NONE dma UART_TX 8 NONE dma UART_RX 1 NONE dma UART_RX 2 NONE dma UART_RX 3 NONE dma UART_RX 4 NONE dma UART_RX 5 NONE dma UART_RX 6 NONE dma UART_RX 7 NONE dma UART_RX 8 NONE dma pin A03 NONE 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 A02 NONE dma pin A09 0 # pin A09: DMA2 Stream 6 Channel 0 dma pin A10 0 # pin A10: DMA2 Stream 6 Channel 0 # feature feature -RX_PPM feature -INFLIGHT_ACC_CAL feature -RX_SERIAL feature -MOTOR_STOP feature -SERVO_TILT feature -SOFTSERIAL feature -GPS feature -RANGEFINDER feature -TELEMETRY feature -3D feature -RX_PARALLEL_PWM feature -RX_MSP feature -RSSI_ADC feature -LED_STRIP feature -DISPLAY feature -OSD feature -CHANNEL_FORWARDING feature -TRANSPONDER feature -AIRMODE feature -RX_SPI feature -ESC_SENSOR feature -ANTI_GRAVITY feature OSD feature AIRMODE feature RX_SPI feature ANTI_GRAVITY # serial serial 20 1 115200 57600 0 115200 serial 0 0 115200 57600 0 115200 serial 1 2048 115200 57600 0 115200 # mixer mixer QUADX mmix reset # beeper beeper GYRO_CALIBRATED beeper RX_LOST beeper RX_LOST_LANDING beeper DISARMING beeper ARMING beeper ARMING_GPS_FIX beeper ARMING_GPS_NO_FIX beeper BAT_CRIT_LOW beeper BAT_LOW beeper GPS_STATUS beeper RX_SET beeper ACC_CALIBRATION beeper ACC_CALIBRATION_FAIL beeper READY_BEEP beeper MULTI_BEEPS beeper DISARM_REPEAT beeper ARMED beeper SYSTEM_INIT beeper ON_USB beeper BLACKBOX_ERASE beeper CRASH_FLIP beeper CAM_CONNECTION_OPEN beeper CAM_CONNECTION_CLOSE beeper RC_SMOOTHING_INIT_FAIL # beacon beacon RX_LOST beacon RX_SET # map map TAER1234 # 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 0 mode_color 5 1 0 mode_color 5 2 0 mode_color 5 3 0 mode_color 5 4 0 mode_color 5 5 0 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 mode_color 7 0 3 # aux aux 0 0 0 1800 2100 0 0 aux 1 1 1 900 1200 0 0 aux 2 35 2 1800 2100 0 0 aux 3 0 0 900 900 0 0 aux 4 0 0 900 900 0 0 aux 5 0 0 900 900 0 0 aux 6 0 0 900 900 0 0 aux 7 0 0 900 900 0 0 aux 8 0 0 900 900 0 0 aux 9 0 0 900 900 0 0 aux 10 0 0 900 900 0 0 aux 11 0 0 900 900 0 0 aux 12 0 0 900 900 0 0 aux 13 0 0 900 900 0 0 aux 14 0 0 900 900 0 0 aux 15 0 0 900 900 0 0 aux 16 0 0 900 900 0 0 aux 17 0 0 900 900 0 0 aux 18 0 0 900 900 0 0 aux 19 0 0 900 900 0 0 # adjrange adjrange 0 0 0 900 900 0 0 0 0 adjrange 1 0 0 900 900 0 0 0 0 adjrange 2 0 0 900 900 0 0 0 0 adjrange 3 0 0 900 900 0 0 0 0 adjrange 4 0 0 900 900 0 0 0 0 adjrange 5 0 0 900 900 0 0 0 0 adjrange 6 0 0 900 900 0 0 0 0 adjrange 7 0 0 900 900 0 0 0 0 adjrange 8 0 0 900 900 0 0 0 0 adjrange 9 0 0 900 900 0 0 0 0 adjrange 10 0 0 900 900 0 0 0 0 adjrange 11 0 0 900 900 0 0 0 0 adjrange 12 0 0 900 900 0 0 0 0 adjrange 13 0 0 900 900 0 0 0 0 adjrange 14 0 0 900 900 0 0 0 0 adjrange 15 0 0 900 900 0 0 0 0 adjrange 16 0 0 900 900 0 0 0 0 adjrange 17 0 0 900 900 0 0 0 0 adjrange 18 0 0 900 900 0 0 0 0 adjrange 19 0 0 900 900 0 0 0 0 adjrange 20 0 0 900 900 0 0 0 0 adjrange 21 0 0 900 900 0 0 0 0 adjrange 22 0 0 900 900 0 0 0 0 adjrange 23 0 0 900 900 0 0 0 0 adjrange 24 0 0 900 900 0 0 0 0 adjrange 25 0 0 900 900 0 0 0 0 adjrange 26 0 0 900 900 0 0 0 0 adjrange 27 0 0 900 900 0 0 0 0 adjrange 28 0 0 900 900 0 0 0 0 adjrange 29 0 0 900 900 0 0 0 0 # rxrange rxrange 0 1000 2000 rxrange 1 1000 2000 rxrange 2 1000 2000 rxrange 3 1000 2000 # vtxtable vtxtable bands 6 vtxtable channels 8 vtxtable band 1 BOSCAM_A A FACTORY 5865 5845 5825 5805 5785 5765 5745 5725 vtxtable band 2 BOSCAM_B B FACTORY 5733 5752 5771 5790 5809 5828 5847 5866 vtxtable band 3 BOSCAM_E E FACTORY 5705 5685 5665 0 5885 5905 0 0 vtxtable band 4 FATSHARK F FACTORY 5740 5760 5780 5800 5820 5840 5860 5880 vtxtable band 5 RACEBAND R FACTORY 5658 5695 5732 5769 5806 5843 5880 5917 vtxtable band 6 LOWRACE L FACTORY 5333 5373 5413 5453 5493 5533 5573 5613 vtxtable powerlevels 5 vtxtable powervalues 10 2 14 16 26 vtxtable powerlabels 0 RCE 25 100 400 # vtx vtx 0 0 0 0 0 900 900 vtx 1 0 0 0 0 900 900 vtx 2 0 0 0 0 900 900 vtx 3 0 0 0 0 900 900 vtx 4 0 0 0 0 900 900 vtx 5 0 0 0 0 900 900 vtx 6 0 0 0 0 900 900 vtx 7 0 0 0 0 900 900 vtx 8 0 0 0 0 900 900 vtx 9 0 0 0 0 900 900 # rxfail rxfail 0 a rxfail 1 a rxfail 2 a rxfail 3 a rxfail 4 h rxfail 5 h rxfail 6 h rxfail 7 h rxfail 8 h rxfail 9 h rxfail 10 h rxfail 11 h rxfail 12 h rxfail 13 h rxfail 14 h rxfail 15 h rxfail 16 h rxfail 17 h # master set gyro_hardware_lpf = NORMAL set gyro_lpf1_type = PT1 set gyro_lpf1_static_hz = 0 set gyro_lpf2_type = PT2 set gyro_lpf2_static_hz = 135 set gyro_notch1_hz = 0 set gyro_notch1_cutoff = 0 set gyro_notch2_hz = 0 set gyro_notch2_cutoff = 0 set gyro_calib_duration = 125 set gyro_calib_noise_limit = 48 set gyro_offset_yaw = 0 set gyro_overflow_detect = ALL set yaw_spin_recovery = AUTO set yaw_spin_threshold = 1950 set gyro_to_use = FIRST set dyn_notch_count = 3 set dyn_notch_q = 300 set dyn_notch_min_hz = 100 set dyn_notch_max_hz = 600 set gyro_lpf1_dyn_min_hz = 0 set gyro_lpf1_dyn_max_hz = 0 set gyro_lpf1_dyn_expo = 5 set gyro_filter_debug_axis = ROLL set acc_hardware = AUTO set acc_lpf_hz = 10 set acc_trim_pitch = 0 set acc_trim_roll = 0 set acc_calibration = -189,68,108,1 set mid_rc = 1500 set min_check = 1050 set max_check = 1900 set rssi_channel = 0 set rssi_src_frame_errors = OFF set rssi_scale = 100 set rssi_offset = 0 set rssi_invert = OFF set rssi_src_frame_lpf_period = 30 set rssi_smoothing = 125 set rc_smoothing = ON set rc_smoothing_auto_factor = 30 set rc_smoothing_auto_factor_throttle = 30 set rc_smoothing_setpoint_cutoff = 0 set rc_smoothing_feedforward_cutoff = 0 set rc_smoothing_throttle_cutoff = 0 set rc_smoothing_debug_axis = ROLL set fpv_mix_degrees = 0 set max_aux_channels = 14 set serialrx_provider = SPEK1024 set serialrx_inverted = OFF set sbus_baud_fast = OFF set crsf_use_negotiated_baud = OFF set airmode_start_throttle_percent = 25 set rx_min_usec = 885 set rx_max_usec = 2115 set serialrx_halfduplex = OFF set msp_override_channels_mask = 0 set rx_spi_protocol = FRSKY_D set rx_spi_bus = 3 set rx_spi_led_inversion = OFF set adc_device = 1 set adc_vrefint_calibration = 0 set adc_tempsensor_calibration30 = 0 set adc_tempsensor_calibration110 = 0 set min_throttle = 1070 set max_throttle = 2000 set min_command = 1000 set dshot_idle_value = 550 set dshot_burst = AUTO set dshot_bidir = OFF set dshot_edt = OFF set dshot_bitbang = OFF set dshot_bitbang_timer = AUTO set use_unsynced_pwm = OFF set motor_pwm_protocol = DSHOT300 set motor_pwm_rate = 480 set motor_pwm_inversion = OFF set motor_poles = 12 set motor_output_reordering = 0,1,2,3,4,5,6,7 set thr_corr_value = 0 set thr_corr_angle = 800 set failsafe_delay = 4 set failsafe_off_delay = 10 set failsafe_throttle = 1000 set failsafe_switch_mode = STAGE1 set failsafe_throttle_low_delay = 100 set failsafe_procedure = DROP set failsafe_recovery_delay = 20 set failsafe_stick_threshold = 30 set align_board_roll = 0 set align_board_pitch = 0 set align_board_yaw = 90 set bat_capacity = 0 set vbat_max_cell_voltage = 440 set vbat_full_cell_voltage = 410 set vbat_min_cell_voltage = 290 set vbat_warning_cell_voltage = 310 set vbat_hysteresis = 1 set current_meter = ADC set battery_meter = ADC set vbat_detect_cell_voltage = 300 set use_vbat_alerts = ON set use_cbat_alerts = OFF set cbat_alert_percent = 10 set vbat_cutoff_percent = 100 set force_battery_cell_count = 0 set vbat_display_lpf_period = 30 set vbat_sag_lpf_period = 2 set ibat_lpf_period = 10 set vbat_duration_for_warning = 0 set vbat_duration_for_critical = 0 set vbat_scale = 110 set vbat_divider = 10 set vbat_multiplier = 1 set ibata_scale = 1175 set ibata_offset = 0 set ibatv_scale = 0 set ibatv_offset = 0 set beeper_inversion = ON set beeper_od = OFF set beeper_frequency = 0 set beeper_dshot_beacon_tone = 1 set yaw_motors_reversed = ON set mixer_type = LEGACY set crashflip_motor_percent = 0 set crashflip_expo = 35 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set 3d_deadband_throttle = 50 set 3d_limit_low = 1000 set 3d_limit_high = 2000 set 3d_switched_mode = OFF set reboot_character = 82 set serial_update_rate_hz = 100 set imu_dcm_kp = 2500 set imu_dcm_ki = 0 set small_angle = 180 set imu_process_denom = 2 set auto_disarm_delay = 5 set gyro_cal_on_first_arm = OFF set gps_provider = NMEA set gps_sbas_mode = NONE set gps_auto_config = ON set gps_auto_baud = OFF set gps_ublox_mode = AIRBORNE set gps_ublox_use_galileo = OFF set gps_set_home_point_once = OFF set gps_use_3d_speed = OFF set gps_sbas_integrity = OFF set gps_rescue_min_start_dist = 30 set gps_rescue_alt_mode = MAX_ALT set gps_rescue_initial_climb = 10 set gps_rescue_ascend_rate = 500 set gps_rescue_return_alt = 30 set gps_rescue_ground_speed = 2000 set gps_rescue_pitch_angle_max = 40 set gps_rescue_roll_mix = 150 set gps_rescue_descent_dist = 200 set gps_rescue_descend_rate = 150 set gps_rescue_landing_alt = 5 set gps_rescue_throttle_min = 1100 set gps_rescue_throttle_max = 1600 set gps_rescue_throttle_hover = 1280 set gps_rescue_sanity_checks = RESCUE_SANITY_ON set gps_rescue_min_sats = 8 set gps_rescue_allow_arming_without_fix = OFF set gps_rescue_throttle_p = 150 set gps_rescue_throttle_i = 20 set gps_rescue_throttle_d = 50 set gps_rescue_velocity_p = 80 set gps_rescue_velocity_i = 20 set gps_rescue_velocity_d = 15 set gps_rescue_yaw_p = 40 set deadband = 1 set yaw_deadband = 1 set yaw_control_reversed = OFF set pid_process_denom = 4 set runaway_takeoff_prevention = OFF set runaway_takeoff_deactivate_delay = 500 set runaway_takeoff_deactivate_throttle_percent = 20 set simplified_gyro_filter = OFF set simplified_gyro_filter_multiplier = 135 set tlm_inverted = OFF set tlm_halfduplex = ON set hott_alarm_int = 5 set pid_in_tlm = OFF set report_cell_voltage = OFF set telemetry_disabled_voltage = OFF set telemetry_disabled_current = OFF set telemetry_disabled_fuel = OFF set telemetry_disabled_mode = OFF set telemetry_disabled_acc_x = OFF set telemetry_disabled_acc_y = OFF set telemetry_disabled_acc_z = OFF set telemetry_disabled_pitch = OFF set telemetry_disabled_roll = OFF set telemetry_disabled_heading = OFF set telemetry_disabled_altitude = OFF set telemetry_disabled_vario = OFF set telemetry_disabled_lat_long = OFF set telemetry_disabled_ground_speed = OFF set telemetry_disabled_distance = OFF set telemetry_disabled_esc_current = ON set telemetry_disabled_esc_voltage = ON set telemetry_disabled_esc_rpm = ON set telemetry_disabled_esc_temperature = ON set telemetry_disabled_temperature = OFF set telemetry_disabled_cap_used = ON set ledstrip_visual_beeper = OFF set ledstrip_visual_beeper_color = WHITE set ledstrip_grb_rgb = GRB set ledstrip_profile = STATUS set ledstrip_race_color = ORANGE set ledstrip_beacon_color = WHITE set ledstrip_beacon_period_ms = 500 set ledstrip_beacon_percent = 50 set ledstrip_beacon_armed_only = OFF set ledstrip_brightness = 100 set osd_units = METRIC set osd_warn_bitmask = 8191 set osd_rssi_alarm = 20 set osd_link_quality_alarm = 80 set osd_rssi_dbm_alarm = -60 set osd_rsnr_alarm = 4 set osd_cap_alarm = 2200 set osd_alt_alarm = 100 set osd_distance_alarm = 0 set osd_esc_temp_alarm = 0 set osd_esc_rpm_alarm = -1 set osd_esc_current_alarm = -1 set osd_core_temp_alarm = 70 set osd_ah_max_pit = 20 set osd_ah_max_rol = 40 set osd_ah_invert = OFF set osd_logo_on_arming = OFF set osd_logo_on_arming_duration = 5 set osd_tim1 = 2560 set osd_tim2 = 2561 set osd_vbat_pos = 234 set osd_rssi_pos = 2392 set osd_link_quality_pos = 344 set osd_link_tx_power_pos = 234 set osd_rssi_dbm_pos = 312 set osd_rsnr_pos = 234 set osd_tim_1_pos = 234 set osd_tim_2_pos = 2433 set osd_remaining_time_estimate_pos = 234 set osd_flymode_pos = 2457 set osd_anti_gravity_pos = 234 set osd_g_force_pos = 234 set osd_throttle_pos = 2424 set osd_vtx_channel_pos = 2305 set osd_crosshairs_pos = 205 set osd_ah_sbar_pos = 206 set osd_ah_pos = 78 set osd_current_pos = 2336 set osd_mah_drawn_pos = 2368 set osd_wh_drawn_pos = 234 set osd_motor_diag_pos = 234 set osd_craft_name_pos = 2442 set osd_pilot_name_pos = 234 set osd_gps_speed_pos = 234 set osd_gps_lon_pos = 234 set osd_gps_lat_pos = 234 set osd_gps_sats_pos = 234 set osd_home_dir_pos = 234 set osd_home_dist_pos = 234 set osd_flight_dist_pos = 234 set osd_compass_bar_pos = 234 set osd_altitude_pos = 234 set osd_pid_roll_pos = 234 set osd_pid_pitch_pos = 234 set osd_pid_yaw_pos = 234 set osd_debug_pos = 234 set osd_power_pos = 234 set osd_pidrate_profile_pos = 234 set osd_warnings_pos = 2345 set osd_avg_cell_voltage_pos = 2401 set osd_pit_ang_pos = 234 set osd_rol_ang_pos = 234 set osd_battery_usage_pos = 234 set osd_disarmed_pos = 2314 set osd_nheading_pos = 234 set osd_up_down_reference_pos = 205 set osd_ready_mode_pos = 234 set osd_esc_tmp_pos = 234 set osd_esc_rpm_pos = 161 set osd_esc_rpm_freq_pos = 234 set osd_rtc_date_time_pos = 234 set osd_adjustment_range_pos = 234 set osd_flip_arrow_pos = 234 set osd_core_temp_pos = 2360 set osd_stick_overlay_left_pos = 234 set osd_stick_overlay_right_pos = 234 set osd_stick_overlay_radio_mode = 2 set osd_rate_profile_name_pos = 234 set osd_pid_profile_name_pos = 234 set osd_profile_name_pos = 234 set osd_rcchannels_pos = 234 set osd_camera_frame_pos = 35 set osd_efficiency_pos = 234 set osd_total_flights_pos = 234 set osd_aux_pos = 234 set osd_sys_goggle_voltage_pos = 234 set osd_sys_vtx_voltage_pos = 234 set osd_sys_bitrate_pos = 234 set osd_sys_delay_pos = 234 set osd_sys_distance_pos = 234 set osd_sys_lq_pos = 234 set osd_sys_goggle_dvr_pos = 234 set osd_sys_vtx_dvr_pos = 234 set osd_sys_warnings_pos = 234 set osd_sys_vtx_temp_pos = 234 set osd_sys_fan_speed_pos = 234 set osd_stat_bitmask = 14124 set osd_profile = 1 set osd_profile_1_name = - set osd_profile_2_name = - set osd_profile_3_name = - set osd_gps_sats_show_hdop = OFF set osd_displayport_device = AUTO set osd_rcchannels = -1,-1,-1,-1 set osd_camera_frame_width = 24 set osd_camera_frame_height = 11 set osd_stat_avg_cell_value = OFF set osd_framerate_hz = 12 set osd_menu_background = TRANSPARENT set osd_aux_channel = 1 set osd_aux_scale = 200 set osd_aux_symbol = 65 set osd_canvas_width = 30 set osd_canvas_height = 13 set osd_craftname_msgs = OFF set system_hse_mhz = 8 set task_statistics = ON set debug_mode = RX_FRSKY_SPI set rate_6pos_switch = OFF set cpu_overclock = 108MHZ set pwr_on_arm_grace = 5 set enable_stick_arming = OFF set vtx_band = 5 set vtx_channel = 4 set vtx_power = 5 set vtx_low_power_disarm = ON set vtx_softserial_alt = OFF set vtx_freq = 5769 set vtx_pit_mode_freq = 0 set vtx_halfduplex = ON set vcd_video_system = AUTO set vcd_h_offset = 0 set vcd_v_offset = 0 set max7456_clock = NOMINAL set max7456_spi_bus = 2 set max7456_preinit_opu = OFF set displayport_msp_col_adjust = 0 set displayport_msp_row_adjust = 0 set displayport_msp_fonts = 0,0,0,0 set displayport_msp_use_device_blink = OFF set displayport_max7456_col_adjust = 0 set displayport_max7456_row_adjust = 0 set displayport_max7456_inv = OFF set displayport_max7456_blk = 0 set displayport_max7456_wht = 2 set esc_sensor_halfduplex = OFF set esc_sensor_current_offset = 0 set frsky_spi_autobind = OFF set frsky_spi_tx_id = 56,14,15 set frsky_spi_offset = -26 set frsky_spi_bind_hop_data = 0,35,70,105,140,175,210,10,45,80,115,150,185,221,20,55,91,125,160,195,230,30,65,100,135,170,205,5,40,75,110,145,180,215,15,50,85,120,155,190,225,25,60,95,130,165,200,0,0,0 set frsky_x_rx_num = 0 set frsky_spi_a1_source = VBAT set cc2500_spi_chip_detect = ON set led_inversion = 0 set pinio_config = 1,1,1,1 set pinio_box = 255,255,255,255 set usb_hid_cdc = OFF set rcdevice_init_dev_attempts = 6 set rcdevice_init_dev_attempt_interval = 1000 set rcdevice_protocol_version = 0 set rcdevice_feature = 0 set gyro_1_bustype = SPI set gyro_1_spibus = 1 set gyro_1_i2cBus = 0 set gyro_1_i2c_address = 0 set gyro_1_sensor_align = CW180 set gyro_1_align_roll = 0 set gyro_1_align_pitch = 0 set gyro_1_align_yaw = 1800 set gyro_2_bustype = SPI set gyro_2_spibus = 0 set gyro_2_i2cBus = 0 set gyro_2_i2c_address = 0 set gyro_2_sensor_align = CW0 set gyro_2_align_roll = 0 set gyro_2_align_pitch = 0 set gyro_2_align_yaw = 0 set i2c1_pullup = OFF set i2c1_clockspeed_khz = 800 set i2c2_pullup = OFF set i2c2_clockspeed_khz = 800 set i2c3_pullup = OFF set i2c3_clockspeed_khz = 800 set mco2_on_pc9 = OFF set spektrum_spi_protocol = 0 set spektrum_spi_mfg_id = 0,0,0,0 set spektrum_spi_num_channels = 0 set scheduler_relax_rx = 1 set scheduler_relax_osd = 1 set serialmsp_halfduplex = OFF set timezone_offset_minutes = 0 set rpm_filter_harmonics = 3 set rpm_filter_q = 500 set rpm_filter_min_hz = 100 set rpm_filter_fade_range_hz = 50 set rpm_filter_lpf_hz = 150 set flysky_spi_tx_id = 0 set flysky_spi_rf_channels = 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 set stats_min_armed_time_s = -1 set stats_total_flights = 0 set stats_total_time_s = 0 set stats_total_dist_m = 0 set craft_name = - set pilot_name = - set altitude_source = DEFAULT set altitude_prefer_baro = 100 set altitude_lpf = 300 set altitude_d_lpf = 100 set box_user_1_name = - set box_user_2_name = - set box_user_3_name = - set box_user_4_name = - profile 0 # profile 0 set profile_name = - set dterm_lpf1_dyn_min_hz = 75 set dterm_lpf1_dyn_max_hz = 150 set dterm_lpf1_dyn_expo = 5 set dterm_lpf1_type = PT1 set dterm_lpf1_static_hz = 75 set dterm_lpf2_type = PT1 set dterm_lpf2_static_hz = 150 set dterm_notch_hz = 0 set dterm_notch_cutoff = 0 set vbat_sag_compensation = 0 set pid_at_min_throttle = ON set anti_gravity_gain = 80 set anti_gravity_cutoff_hz = 5 set anti_gravity_p_gain = 100 set acc_limit_yaw = 0 set acc_limit = 0 set crash_dthreshold = 50 set crash_gthreshold = 400 set crash_setpoint_threshold = 350 set crash_time = 500 set crash_delay = 0 set crash_recovery_angle = 10 set crash_recovery_rate = 100 set crash_limit_yaw = 200 set crash_recovery = OFF set iterm_rotation = OFF set iterm_relax = RP set iterm_relax_type = SETPOINT set iterm_relax_cutoff = 15 set iterm_windup = 85 set iterm_limit = 400 set pidsum_limit = 500 set pidsum_limit_yaw = 400 set yaw_lowpass_hz = 100 set throttle_boost = 5 set throttle_boost_cutoff = 15 set p_pitch = 64 set i_pitch = 126 set d_pitch = 64 set f_pitch = 160 set p_roll = 59 set i_roll = 119 set d_roll = 59 set f_roll = 151 set p_yaw = 63 set i_yaw = 126 set d_yaw = 0 set f_yaw = 151 set angle_level_strength = 50 set horizon_level_strength = 50 set horizon_transition = 75 set level_limit = 55 set horizon_tilt_effect = 75 set horizon_tilt_expert_mode = OFF set abs_control_gain = 0 set abs_control_limit = 90 set abs_control_error_limit = 20 set abs_control_cutoff = 11 set use_integrated_yaw = OFF set integrated_yaw_relax = 200 set d_min_roll = 39 set d_min_pitch = 42 set d_min_yaw = 0 set d_max_gain = 37 set d_max_advance = 20 set motor_output_limit = 100 set auto_profile_cell_count = 0 set launch_control_mode = NORMAL set launch_trigger_allow_reset = ON set launch_trigger_throttle_percent = 20 set launch_angle_limit = 0 set launch_control_gain = 40 set thrust_linear = 0 set transient_throttle_limit = 0 set feedforward_transition = 0 set feedforward_averaging = OFF set feedforward_smooth_factor = 25 set feedforward_jitter_factor = 7 set feedforward_boost = 15 set feedforward_max_rate_limit = 90 set dyn_idle_min_rpm = 0 set dyn_idle_p_gain = 50 set dyn_idle_i_gain = 50 set dyn_idle_d_gain = 50 set dyn_idle_max_increase = 150 set level_race_mode = OFF set simplified_pids_mode = RPY set simplified_master_multiplier = 105 set simplified_i_gain = 95 set simplified_d_gain = 135 set simplified_pi_gain = 120 set simplified_dmax_gain = 100 set simplified_feedforward_gain = 100 set simplified_pitch_d_gain = 100 set simplified_pitch_pi_gain = 100 set simplified_dterm_filter = ON set simplified_dterm_filter_multiplier = 100 set tpa_mode = D set tpa_rate = 65 set tpa_breakpoint = 1350 profile 1 # profile 1 set profile_name = - set dterm_lpf1_dyn_min_hz = 75 set dterm_lpf1_dyn_max_hz = 150 set dterm_lpf1_dyn_expo = 5 set dterm_lpf1_type = PT1 set dterm_lpf1_static_hz = 75 set dterm_lpf2_type = PT1 set dterm_lpf2_static_hz = 150 set dterm_notch_hz = 0 set dterm_notch_cutoff = 0 set vbat_sag_compensation = 0 set pid_at_min_throttle = ON set anti_gravity_gain = 80 set anti_gravity_cutoff_hz = 5 set anti_gravity_p_gain = 100 set acc_limit_yaw = 0 set acc_limit = 0 set crash_dthreshold = 50 set crash_gthreshold = 400 set crash_setpoint_threshold = 350 set crash_time = 500 set crash_delay = 0 set crash_recovery_angle = 10 set crash_recovery_rate = 100 set crash_limit_yaw = 200 set crash_recovery = OFF set iterm_rotation = OFF set iterm_relax = RP set iterm_relax_type = SETPOINT set iterm_relax_cutoff = 15 set iterm_windup = 85 set iterm_limit = 400 set pidsum_limit = 500 set pidsum_limit_yaw = 400 set yaw_lowpass_hz = 100 set throttle_boost = 5 set throttle_boost_cutoff = 15 set p_pitch = 47 set i_pitch = 84 set d_pitch = 46 set f_pitch = 125 set p_roll = 45 set i_roll = 80 set d_roll = 40 set f_roll = 120 set p_yaw = 45 set i_yaw = 80 set d_yaw = 0 set f_yaw = 120 set angle_level_strength = 50 set horizon_level_strength = 50 set horizon_transition = 75 set level_limit = 55 set horizon_tilt_effect = 75 set horizon_tilt_expert_mode = OFF set abs_control_gain = 0 set abs_control_limit = 90 set abs_control_error_limit = 20 set abs_control_cutoff = 11 set use_integrated_yaw = OFF set integrated_yaw_relax = 200 set d_min_roll = 30 set d_min_pitch = 34 set d_min_yaw = 0 set d_max_gain = 37 set d_max_advance = 20 set motor_output_limit = 100 set auto_profile_cell_count = 0 set launch_control_mode = NORMAL set launch_trigger_allow_reset = ON set launch_trigger_throttle_percent = 20 set launch_angle_limit = 0 set launch_control_gain = 40 set thrust_linear = 0 set transient_throttle_limit = 0 set feedforward_transition = 0 set feedforward_averaging = OFF set feedforward_smooth_factor = 25 set feedforward_jitter_factor = 7 set feedforward_boost = 15 set feedforward_max_rate_limit = 90 set dyn_idle_min_rpm = 0 set dyn_idle_p_gain = 50 set dyn_idle_i_gain = 50 set dyn_idle_d_gain = 50 set dyn_idle_max_increase = 150 set level_race_mode = OFF set simplified_pids_mode = RPY set simplified_master_multiplier = 100 set simplified_i_gain = 100 set simplified_d_gain = 100 set simplified_pi_gain = 100 set simplified_dmax_gain = 100 set simplified_feedforward_gain = 100 set simplified_pitch_d_gain = 100 set simplified_pitch_pi_gain = 100 set simplified_dterm_filter = ON set simplified_dterm_filter_multiplier = 100 set tpa_mode = D set tpa_rate = 65 set tpa_breakpoint = 1350 profile 2 # profile 2 set profile_name = - set dterm_lpf1_dyn_min_hz = 75 set dterm_lpf1_dyn_max_hz = 150 set dterm_lpf1_dyn_expo = 5 set dterm_lpf1_type = PT1 set dterm_lpf1_static_hz = 75 set dterm_lpf2_type = PT1 set dterm_lpf2_static_hz = 150 set dterm_notch_hz = 0 set dterm_notch_cutoff = 0 set vbat_sag_compensation = 0 set pid_at_min_throttle = ON set anti_gravity_gain = 80 set anti_gravity_cutoff_hz = 5 set anti_gravity_p_gain = 100 set acc_limit_yaw = 0 set acc_limit = 0 set crash_dthreshold = 50 set crash_gthreshold = 400 set crash_setpoint_threshold = 350 set crash_time = 500 set crash_delay = 0 set crash_recovery_angle = 10 set crash_recovery_rate = 100 set crash_limit_yaw = 200 set crash_recovery = OFF set iterm_rotation = OFF set iterm_relax = RP set iterm_relax_type = SETPOINT set iterm_relax_cutoff = 15 set iterm_windup = 85 set iterm_limit = 400 set pidsum_limit = 500 set pidsum_limit_yaw = 400 set yaw_lowpass_hz = 100 set throttle_boost = 5 set throttle_boost_cutoff = 15 set p_pitch = 47 set i_pitch = 84 set d_pitch = 46 set f_pitch = 125 set p_roll = 45 set i_roll = 80 set d_roll = 40 set f_roll = 120 set p_yaw = 45 set i_yaw = 80 set d_yaw = 0 set f_yaw = 120 set angle_level_strength = 50 set horizon_level_strength = 50 set horizon_transition = 75 set level_limit = 55 set horizon_tilt_effect = 75 set horizon_tilt_expert_mode = OFF set abs_control_gain = 0 set abs_control_limit = 90 set abs_control_error_limit = 20 set abs_control_cutoff = 11 set use_integrated_yaw = OFF set integrated_yaw_relax = 200 set d_min_roll = 30 set d_min_pitch = 34 set d_min_yaw = 0 set d_max_gain = 37 set d_max_advance = 20 set motor_output_limit = 100 set auto_profile_cell_count = 0 set launch_control_mode = NORMAL set launch_trigger_allow_reset = ON set launch_trigger_throttle_percent = 20 set launch_angle_limit = 0 set launch_control_gain = 40 set thrust_linear = 0 set transient_throttle_limit = 0 set feedforward_transition = 0 set feedforward_averaging = OFF set feedforward_smooth_factor = 25 set feedforward_jitter_factor = 7 set feedforward_boost = 15 set feedforward_max_rate_limit = 90 set dyn_idle_min_rpm = 0 set dyn_idle_p_gain = 50 set dyn_idle_i_gain = 50 set dyn_idle_d_gain = 50 set dyn_idle_max_increase = 150 set level_race_mode = OFF set simplified_pids_mode = RPY set simplified_master_multiplier = 100 set simplified_i_gain = 100 set simplified_d_gain = 100 set simplified_pi_gain = 100 set simplified_dmax_gain = 100 set simplified_feedforward_gain = 100 set simplified_pitch_d_gain = 100 set simplified_pitch_pi_gain = 100 set simplified_dterm_filter = ON set simplified_dterm_filter_multiplier = 100 set tpa_mode = D set tpa_rate = 65 set tpa_breakpoint = 1350 profile 3 # profile 3 set profile_name = - set dterm_lpf1_dyn_min_hz = 75 set dterm_lpf1_dyn_max_hz = 150 set dterm_lpf1_dyn_expo = 5 set dterm_lpf1_type = PT1 set dterm_lpf1_static_hz = 75 set dterm_lpf2_type = PT1 set dterm_lpf2_static_hz = 150 set dterm_notch_hz = 0 set dterm_notch_cutoff = 0 set vbat_sag_compensation = 0 set pid_at_min_throttle = ON set anti_gravity_gain = 80 set anti_gravity_cutoff_hz = 5 set anti_gravity_p_gain = 100 set acc_limit_yaw = 0 set acc_limit = 0 set crash_dthreshold = 50 set crash_gthreshold = 400 set crash_setpoint_threshold = 350 set crash_time = 500 set crash_delay = 0 set crash_recovery_angle = 10 set crash_recovery_rate = 100 set crash_limit_yaw = 200 set crash_recovery = OFF set iterm_rotation = OFF set iterm_relax = RP set iterm_relax_type = SETPOINT set iterm_relax_cutoff = 15 set iterm_windup = 85 set iterm_limit = 400 set pidsum_limit = 500 set pidsum_limit_yaw = 400 set yaw_lowpass_hz = 100 set throttle_boost = 5 set throttle_boost_cutoff = 15 set p_pitch = 47 set i_pitch = 84 set d_pitch = 46 set f_pitch = 125 set p_roll = 45 set i_roll = 80 set d_roll = 40 set f_roll = 120 set p_yaw = 45 set i_yaw = 80 set d_yaw = 0 set f_yaw = 120 set angle_level_strength = 50 set horizon_level_strength = 50 set horizon_transition = 75 set level_limit = 55 set horizon_tilt_effect = 75 set horizon_tilt_expert_mode = OFF set abs_control_gain = 0 set abs_control_limit = 90 set abs_control_error_limit = 20 set abs_control_cutoff = 11 set use_integrated_yaw = OFF set integrated_yaw_relax = 200 set d_min_roll = 30 set d_min_pitch = 34 set d_min_yaw = 0 set d_max_gain = 37 set d_max_advance = 20 set motor_output_limit = 100 set auto_profile_cell_count = 0 set launch_control_mode = NORMAL set launch_trigger_allow_reset = ON set launch_trigger_throttle_percent = 20 set launch_angle_limit = 0 set launch_control_gain = 40 set thrust_linear = 0 set transient_throttle_limit = 0 set feedforward_transition = 0 set feedforward_averaging = OFF set feedforward_smooth_factor = 25 set feedforward_jitter_factor = 7 set feedforward_boost = 15 set feedforward_max_rate_limit = 90 set dyn_idle_min_rpm = 0 set dyn_idle_p_gain = 50 set dyn_idle_i_gain = 50 set dyn_idle_d_gain = 50 set dyn_idle_max_increase = 150 set level_race_mode = OFF set simplified_pids_mode = RPY set simplified_master_multiplier = 100 set simplified_i_gain = 100 set simplified_d_gain = 100 set simplified_pi_gain = 100 set simplified_dmax_gain = 100 set simplified_feedforward_gain = 100 set simplified_pitch_d_gain = 100 set simplified_pitch_pi_gain = 100 set simplified_dterm_filter = ON set simplified_dterm_filter_multiplier = 100 set tpa_mode = D set tpa_rate = 65 set tpa_breakpoint = 1350 # restore original profile selection profile 0 rateprofile 0 # rateprofile 0 set rateprofile_name = - set thr_mid = 50 set thr_expo = 0 set rates_type = BETAFLIGHT set quickrates_rc_expo = OFF set roll_rc_rate = 100 set pitch_rc_rate = 100 set yaw_rc_rate = 100 set roll_expo = 0 set pitch_expo = 0 set yaw_expo = 0 set roll_srate = 70 set pitch_srate = 70 set yaw_srate = 70 set throttle_limit_type = OFF set throttle_limit_percent = 100 set roll_rate_limit = 1998 set pitch_rate_limit = 1998 set yaw_rate_limit = 1998 set roll_level_expo = 0 set pitch_level_expo = 0 rateprofile 1 # rateprofile 1 set rateprofile_name = - set thr_mid = 50 set thr_expo = 0 set rates_type = ACTUAL set quickrates_rc_expo = OFF set roll_rc_rate = 7 set pitch_rc_rate = 7 set yaw_rc_rate = 7 set roll_expo = 0 set pitch_expo = 0 set yaw_expo = 0 set roll_srate = 67 set pitch_srate = 67 set yaw_srate = 67 set throttle_limit_type = OFF set throttle_limit_percent = 100 set roll_rate_limit = 1998 set pitch_rate_limit = 1998 set yaw_rate_limit = 1998 set roll_level_expo = 0 set pitch_level_expo = 0 rateprofile 2 # rateprofile 2 set rateprofile_name = - set thr_mid = 50 set thr_expo = 0 set rates_type = ACTUAL set quickrates_rc_expo = OFF set roll_rc_rate = 7 set pitch_rc_rate = 7 set yaw_rc_rate = 7 set roll_expo = 0 set pitch_expo = 0 set yaw_expo = 0 set roll_srate = 67 set pitch_srate = 67 set yaw_srate = 67 set throttle_limit_type = OFF set throttle_limit_percent = 100 set roll_rate_limit = 1998 set pitch_rate_limit = 1998 set yaw_rate_limit = 1998 set roll_level_expo = 0 set pitch_level_expo = 0 rateprofile 3 # rateprofile 3 set rateprofile_name = - set thr_mid = 50 set thr_expo = 0 set rates_type = ACTUAL set quickrates_rc_expo = OFF set roll_rc_rate = 7 set pitch_rc_rate = 7 set yaw_rc_rate = 7 set roll_expo = 0 set pitch_expo = 0 set yaw_expo = 0 set roll_srate = 67 set pitch_srate = 67 set yaw_srate = 67 set throttle_limit_type = OFF set throttle_limit_percent = 100 set roll_rate_limit = 1998 set pitch_rate_limit = 1998 set yaw_rate_limit = 1998 set roll_level_expo = 0 set pitch_level_expo = 0 # restore original rateprofile selection rateprofile 0 # save configuration save