# version
# Betaflight / STM32G47X (SG47) 4.6.0 May 12 2025 / 09:54:06 (norevision) MSP API: 1.47

# start the command batch
batch start

board_name HDZERO_AIO15
manufacturer_id HDZO

# name: M8 FREESTYLE HD

# resources
resource BEEPER 1 A09
resource MOTOR 1 A03
resource MOTOR 2 A02
resource MOTOR 3 A01
resource MOTOR 4 A00
resource MOTOR 5 NONE
resource MOTOR 6 NONE
resource MOTOR 7 NONE
resource MOTOR 8 NONE
resource SERVO 1 NONE
resource SERVO 2 NONE
resource SERVO 3 NONE
resource SERVO 4 NONE
resource SERVO 5 NONE
resource SERVO 6 NONE
resource SERVO 7 NONE
resource SERVO 8 NONE
resource PPM 1 NONE
resource PWM 1 NONE
resource PWM 2 NONE
resource PWM 3 NONE
resource PWM 4 NONE
resource PWM 5 NONE
resource PWM 6 NONE
resource PWM 7 NONE
resource PWM 8 NONE
resource SERIAL_TX 1 B06
resource SERIAL_TX 2 B03
resource SERIAL_TX 3 B10
resource SERIAL_TX 4 C10
resource SERIAL_TX 5 NONE
resource SERIAL_RX 1 B07
resource SERIAL_RX 2 B04
resource SERIAL_RX 3 B11
resource SERIAL_RX 4 C11
resource SERIAL_RX 5 NONE
resource LPUART_TX 1 NONE
resource LPUART_RX 1 NONE
resource I2C_SCL 1 NONE
resource I2C_SCL 2 C04
resource I2C_SCL 3 NONE
resource I2C_SCL 4 NONE
resource I2C_SDA 1 NONE
resource I2C_SDA 2 F00
resource I2C_SDA 3 NONE
resource I2C_SDA 4 NONE
resource LED 1 F01
resource LED 2 NONE
resource LED 3 NONE
resource RX_BIND 1 NONE
resource RX_BIND_PLUG 1 NONE
resource SPI_SCK 1 NONE
resource SPI_SCK 2 B13
resource SPI_SCK 3 NONE
resource SPI_SCK 4 NONE
resource SPI_SDI 1 NONE
resource SPI_SDI 2 B14
resource SPI_SDI 3 NONE
resource SPI_SDI 4 NONE
resource SPI_SDO 1 NONE
resource SPI_SDO 2 B15
resource SPI_SDO 3 NONE
resource SPI_SDO 4 NONE
resource ESCSERIAL 1 NONE
resource ADC_BATT 1 B01
resource ADC_RSSI 1 NONE
resource ADC_CURR 1 B00
resource ADC_EXT 1 NONE
resource PINIO 1 NONE
resource PINIO 2 NONE
resource PINIO 3 NONE
resource PINIO 4 NONE
resource GYRO_EXTI 1 B12
resource GYRO_EXTI 2 NONE
resource GYRO_CS 1 C06
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 AF2
# pin A03: TIM5 CH4 (AF2)
timer A02 AF2
# pin A02: TIM5 CH3 (AF2)
timer A01 AF1
# pin A01: TIM2 CH2 (AF1)
timer A00 AF1
# pin A00: TIM2 CH1 (AF1)
timer A08 AF6
# pin A08: TIM1 CH1 (AF6)
timer A09 AF6
# pin A09: TIM1 CH2 (AF6)

# dma
dma SPI_SDO 1 NONE
dma SPI_SDO 2 9
# SPI_SDO 2: DMA2 Channel 2 Request 13
dma SPI_SDO 3 NONE
dma SPI_SDO 4 NONE
dma SPI_SDI 1 NONE
dma SPI_SDI 2 8
# SPI_SDI 2: DMA2 Channel 1 Request 12
dma SPI_SDI 3 NONE
dma SPI_SDI 4 NONE
dma SPI_TX 1 NONE
dma SPI_TX 2 9
# SPI_TX 2: DMA2 Channel 2 Request 13
dma SPI_TX 3 NONE
dma SPI_TX 4 NONE
dma SPI_RX 1 NONE
dma SPI_RX 2 8
# SPI_RX 2: DMA2 Channel 1 Request 12
dma SPI_RX 3 NONE
dma SPI_RX 4 NONE
dma ADC 1 6
# ADC 1: DMA1 Channel 7 Request 5
dma ADC 2 9
# ADC 2: DMA2 Channel 2 Request 36
dma ADC 3 NONE
dma ADC 4 NONE
dma ADC 5 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_RX 1 NONE
dma UART_RX 2 NONE
dma UART_RX 3 NONE
dma UART_RX 4 NONE
dma UART_RX 5 NONE
dma LPUART_TX 1 NONE
dma LPUART_RX 1 NONE
dma TIMUP 1 NONE
dma TIMUP 2 NONE
dma TIMUP 3 NONE
dma TIMUP 4 NONE
dma TIMUP 5 NONE
dma TIMUP 6 NONE
dma TIMUP 7 NONE
dma TIMUP 8 NONE
dma TIMUP 15 NONE
dma TIMUP 16 NONE
dma TIMUP 17 NONE
dma TIMUP 20 NONE
dma pin A03 4
# pin A03: DMA1 Channel 5 Request 75
dma pin A02 3
# pin A02: DMA1 Channel 4 Request 74
dma pin A01 2
# pin A01: DMA1 Channel 3 Request 57
dma pin A00 1
# pin A00: DMA1 Channel 2 Request 56
dma pin A08 9
# pin A08: DMA2 Channel 2 Request 42
dma pin A09 0
# pin A09: DMA1 Channel 1 Request 43

# feature
feature -RX_PPM
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -OPTICALFLOW
feature -RANGEFINDER
feature -TELEMETRY
feature -3D
feature -RX_PARALLEL_PWM
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 RX_SERIAL
feature OSD
feature AIRMODE
feature ANTI_GRAVITY

# serial
serial VCP 1 115200 57600 0 115200
serial UART1 131073 115200 57600 0 115200
serial UART2 64 115200 57600 0 115200
serial UART3 0 115200 57600 0 115200
serial UART4 0 115200 57600 0 115200

# mixer
mixer QUADX

mmix reset


# servo
servo 0 1000 2000 1500 100 -1
servo 1 1000 2000 1500 100 -1
servo 2 1000 2000 1500 100 -1
servo 3 1000 2000 1500 100 -1
servo 4 1000 2000 1500 100 -1
servo 5 1000 2000 1500 100 -1
servo 6 1000 2000 1500 100 -1
servo 7 1000 2000 1500 100 -1

# servo mixer
smix 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 CRASHFLIP
beeper CAM_CONNECTION_OPEN
beeper CAM_CONNECTION_CLOSE
beeper RC_SMOOTHING_INIT_FAIL

# beacon
beacon -RX_LOST
beacon -RX_SET

# map
map AETR1234

# aux
aux 0 0 0 1775 2100 0 0
aux 1 1 3 1900 2100 0 0
aux 2 2 3 1350 1750 0 0
aux 3 35 1 1200 2100 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 CUSTOM     0    0    0    0    0    0    0    0
vtxtable band 2 BOSCAM_B B CUSTOM     0    0    0    0    0    0    0    0
vtxtable band 3 BOSCAM_E E CUSTOM  5705    0    0    0    0    0    0    0
vtxtable band 4 FATSHARK F CUSTOM  5740 5760    0 5800    0    0    0    0
vtxtable band 5 RACEBAND R CUSTOM  5658 5695 5732 5769 5806 5843 5880 5917
vtxtable band 6 LOWBAND  L CUSTOM     0    0    0    0    0    0    0    0
vtxtable powerlevels 3
vtxtable powervalues 14 23 0
vtxtable powerlabels 25 200 0

# 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 = 250
set gyro_lpf2_type = PT1
set gyro_lpf2_static_hz = 0
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 = 1
set dyn_notch_q = 500
set dyn_notch_min_hz = 100
set dyn_notch_max_hz = 600
set gyro_lpf1_dyn_min_hz = 250
set gyro_lpf1_dyn_max_hz = 500
set gyro_lpf1_dyn_expo = 5
set gyro_filter_debug_axis = ROLL
set acc_hardware = AUTO
set acc_lpf_hz = 25
set acc_trim_pitch = 0
set acc_trim_roll = 2
set acc_calibration = 178,-55,61,1
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 = CRSF
set serialrx_inverted = OFF
set spektrum_sat_bind = 0
set spektrum_sat_bind_autoreset = ON
set srxl2_unit_id = 1
set srxl2_baud_fast = ON
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 msp_override_failsafe = OFF
set adc_device = 1
set adc_vrefint_calibration = 0
set adc_tempsensor_calibration30 = 0
set adc_tempsensor_calibration110 = 0
set input_filtering_mode = OFF
set blackbox_sample_rate = 1/4
set blackbox_device = NONE
set blackbox_disable_pids = OFF
set blackbox_disable_rc = OFF
set blackbox_disable_setpoint = OFF
set blackbox_disable_bat = OFF
set blackbox_disable_rssi = OFF
set blackbox_disable_gyro = OFF
set blackbox_disable_gyrounfilt = OFF
set blackbox_disable_acc = OFF
set blackbox_disable_attitude = OFF
set blackbox_disable_debug = OFF
set blackbox_disable_motors = OFF
set blackbox_disable_servos = OFF
set blackbox_disable_rpm = OFF
set blackbox_mode = NORMAL
set blackbox_high_resolution = OFF
set max_throttle = 2000
set min_command = 1000
set motor_kv = 1960
set motor_idle = 850
set dshot_burst = OFF
set dshot_bidir = ON
set dshot_edt = OFF
set dshot_bitbang = AUTO
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 = 1,3,0,2,4,5,6,7
set thr_corr_value = 0
set thr_corr_angle = 800
set failsafe_delay = 15
set failsafe_landing_time = 60
set failsafe_throttle = 1000
set failsafe_switch_mode = STAGE1
set failsafe_throttle_low_delay = 100
set failsafe_procedure = DROP
set failsafe_recovery_delay = 5
set failsafe_stick_threshold = 30
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 135
set gimbal_mode = NORMAL
set bat_capacity = 0
set vbat_max_cell_voltage = 430
set vbat_full_cell_voltage = 410
set vbat_min_cell_voltage = 330
set vbat_warning_cell_voltage = 350
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 = 100
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_rate = 0
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 servo_center_pulse = 1500
set servo_pwm_rate = 50
set servo_lowpass_hz = 0
set tri_unarmed_servo = ON
set channel_forwarding_start = 4
set reboot_character = 82
set serial_update_rate_hz = 100
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set small_angle = 25
set imu_process_denom = 2
set auto_disarm_delay = 5
set gyro_cal_on_first_arm = OFF
set prearm_allow_rearm = OFF
set deadband = 0
set yaw_deadband = 0
set yaw_control_reversed = OFF
set pid_process_denom = 2
set runaway_takeoff_prevention = ON
set runaway_takeoff_deactivate_delay = 500
set runaway_takeoff_deactivate_throttle_percent = 20
set simplified_gyro_filter = ON
set simplified_gyro_filter_multiplier = 100
set tlm_inverted = OFF
set tlm_halfduplex = ON
set frsky_vfas_precision = 0
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 osd_units = METRIC
set osd_warn_bitmask = 794623
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_arming_logo = 0
set osd_tim1 = 2560
set osd_tim2 = 2561
set osd_vbat_pos = 14786
set osd_rssi_pos = 15884
set osd_link_quality_pos = 341
set osd_link_tx_power_pos = 341
set osd_rssi_dbm_pos = 341
set osd_rsnr_pos = 341
set osd_tim_1_pos = 341
set osd_tim_2_pos = 341
set osd_remaining_time_estimate_pos = 341
set osd_flymode_pos = 15852
set osd_anti_gravity_pos = 341
set osd_g_force_pos = 341
set osd_throttle_pos = 341
set osd_vtx_channel_pos = 15404
set osd_crosshairs_pos = 312
set osd_ah_sbar_pos = 313
set osd_ah_pos = 185
set osd_current_pos = 14850
set osd_mah_drawn_pos = 341
set osd_wh_drawn_pos = 341
set osd_motor_diag_pos = 341
set osd_craft_name_pos = 341
set osd_pilot_name_pos = 341
set osd_gps_speed_pos = 341
set osd_gps_lon_pos = 341
set osd_gps_lat_pos = 341
set osd_gps_sats_pos = 341
set osd_home_dir_pos = 341
set osd_home_dist_pos = 341
set osd_flight_dist_pos = 341
set osd_compass_bar_pos = 341
set osd_altitude_pos = 341
set osd_pid_roll_pos = 341
set osd_pid_pitch_pos = 341
set osd_pid_yaw_pos = 341
set osd_debug_pos = 341
set osd_debug2_pos = 341
set osd_power_pos = 341
set osd_pidrate_profile_pos = 341
set osd_warnings_pos = 14772
set osd_avg_cell_voltage_pos = 14818
set osd_pit_ang_pos = 341
set osd_rol_ang_pos = 341
set osd_battery_usage_pos = 341
set osd_disarmed_pos = 341
set osd_nheading_pos = 341
set osd_up_down_reference_pos = 312
set osd_ready_mode_pos = 341
set osd_esc_tmp_pos = 341
set osd_esc_rpm_pos = 341
set osd_esc_rpm_freq_pos = 341
set osd_rtc_date_time_pos = 341
set osd_adjustment_range_pos = 341
set osd_flip_arrow_pos = 341
set osd_core_temp_pos = 15916
set osd_log_status_pos = 341
set osd_stick_overlay_left_pos = 341
set osd_stick_overlay_right_pos = 341
set osd_stick_overlay_radio_mode = 2
set osd_rate_profile_name_pos = 341
set osd_pid_profile_name_pos = 341
set osd_profile_name_pos = 341
set osd_rcchannels_pos = 341
set osd_camera_frame_pos = 142
set osd_efficiency_pos = 341
set osd_total_flights_pos = 341
set osd_aux_pos = 341
set osd_sys_goggle_voltage_pos = 341
set osd_sys_vtx_voltage_pos = 341
set osd_sys_bitrate_pos = 341
set osd_sys_delay_pos = 341
set osd_sys_distance_pos = 341
set osd_sys_lq_pos = 341
set osd_sys_goggle_dvr_pos = 341
set osd_sys_vtx_dvr_pos = 341
set osd_sys_warnings_pos = 341
set osd_sys_vtx_temp_pos = 341
set osd_sys_fan_speed_pos = 341
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_pdop = OFF
set osd_displayport_device = MSP
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_craftname_msgs = OFF
set system_hse_mhz = 0
set task_statistics = ON
set debug_mode = NONE
set rate_6pos_switch = OFF
set cpu_overclock = OFF
set pwr_on_arm_grace = 5
set enable_stick_arming = OFF
set vtx_band = 5
set vtx_channel = 1
set vtx_power = 2
set vtx_low_power_disarm = OFF
set vtx_softserial_alt = OFF
set vtx_freq = 5658
set vtx_pit_mode_freq = 0
set vtx_halfduplex = ON
set vcd_video_system = HD
set displayport_msp_col_adjust = 0
set displayport_msp_row_adjust = 0
set displayport_msp_fonts = 0,1,2,3
set displayport_msp_use_device_blink = OFF
set esc_sensor_halfduplex = OFF
set esc_sensor_current_offset = 0
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 = 2
set gyro_1_i2cBus = 0
set gyro_1_i2c_address = 0
set gyro_1_sensor_align = CW90FLIP
set gyro_1_align_roll = 0
set gyro_1_align_pitch = 1800
set gyro_1_align_yaw = 900
set gyro_2_bustype = NONE
set gyro_2_spibus = 0
set gyro_2_i2cBus = 0
set gyro_2_i2c_address = 0
set gyro_2_sensor_align = DEFAULT
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 i2c4_pullup = OFF
set i2c4_clockspeed_khz = 800
set mco_on_pa8 = OFF
set mco_source = 0
set mco_divider = 0
set scheduler_relax_rx = 25
set scheduler_relax_osd = 25
set scheduler_debug_task = 0
set cpu_late_limit_permille = 10
set serialmsp_halfduplex = OFF
set timezone_offset_minutes = 0
set rpm_filter_harmonics = 3
set rpm_filter_weights = 100,100,100
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 stats_min_armed_time_s = -1
set stats_total_flights = 0
set stats_total_time_s = 0
set stats_total_dist_m = 0
set stats_save_move_limit = 20
set craft_name = M80 HDZERO
set pilot_name = -
set altitude_source = DEFAULT
set altitude_prefer_baro = 100
set altitude_lpf = 300
set altitude_d_lpf = 100
set ap_landing_altitude_m = 4
set ap_hover_throttle = 1275
set ap_throttle_min = 1100
set ap_throttle_max = 1700
set ap_altitude_p = 15
set ap_altitude_i = 15
set ap_altitude_d = 15
set ap_altitude_f = 15
set ap_position_p = 30
set ap_position_i = 30
set ap_position_d = 30
set ap_position_a = 30
set ap_position_cutoff = 80
set ap_max_angle = 50
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 = 80
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 = 48
set i_pitch = 86
set d_pitch = 30
set f_pitch = 118
set p_roll = 46
set i_roll = 82
set d_roll = 27
set f_roll = 113
set p_yaw = 46
set i_yaw = 82
set d_yaw = 0
set f_yaw = 113
set angle_p_gain = 50
set angle_feedforward = 50
set angle_feedforward_smoothing_ms = 80
set angle_limit = 60
set angle_earth_ref = 100
set horizon_level_strength = 75
set horizon_limit_sticks = 75
set horizon_limit_degrees = 135
set horizon_ignore_sticks = OFF
set horizon_delay_ms = 500
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_max_roll = 36
set d_max_pitch = 41
set d_max_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 = PITCHONLY
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 feedforward_yaw_hold_gain = 15
set feedforward_yaw_hold_time = 100
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 = 90
set simplified_i_gain = 100
set simplified_d_gain = 100
set simplified_pi_gain = 115
set simplified_d_max_gain = 100
set simplified_feedforward_gain = 105
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
set tpa_low_rate = 20
set tpa_low_breakpoint = 1050
set tpa_low_always = OFF
set ez_landing_threshold = 25
set ez_landing_limit = 15
set ez_landing_speed = 50
set landing_disarm_threshold = 0

rateprofile 0

# rateprofile 0
set rateprofile_name = -
set thr_mid = 24
set thr_expo = 21
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 = 90
set roll_rate_limit = 1998
set pitch_rate_limit = 1998
set yaw_rate_limit = 1998

# end the command batch
batch end
save