diff all

# version
# INAV/SITL 7.0.0 Dec 11 2024 / 15:14:01 (8d061162)
# GCC-8.3.0

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# Timer overrides

# Outputs [servo]

# safehome

# features
feature TELEMETRY
feature PWM_OUTPUT_ENABLE

# 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 2 1 115200 115200 0 115200
serial 3 2 115200 115200 0 115200
serial 4 256 115200 115200 0 115200

# Modes [aux]
aux 0 0 0 1950 2050
aux 1 1 1 950 1050
aux 2 2 1 1450 1550
aux 3 11 2 1450 1550
aux 4 28 2 1950 2050
aux 5 3 2 1450 1550
aux 6 20 0 900 2100
aux 7 50 4 1900 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]
osd_layout 0 104 0 0 H
osd_layout 1 104 0 0 H
osd_layout 2 104 0 0 H
osd_layout 3 104 0 0 H

# Programming: logic

# Programming: global variables

# Programming: PID controllers

# master
set looptime = 4000
set gyro_main_lpf_hz = 110
set gyro_main_lpf_type = PT1
set gyro_use_dyn_lpf = ON
set gyro_dyn_lpf_min_hz = 85
set gyro_dyn_lpf_max_hz = 300
set gyro_dyn_lpf_curve_expo = 3
set ins_gravity_cmss =  971.613
set acc_hardware = FAKE
set acc_lpf_hz = 5
set align_mag = CW270FLIP
set mag_hardware = FAKE
set baro_hardware = FAKE
set pitot_hardware = NONE
set receiver_type = SIM (SITL)
set msp_override_channels = 65535
set blackbox_rate_denom = 2
set motor_pwm_protocol = MULTISHOT
set failsafe_procedure = DROP
set applied_defaults = 2
set airmode_type = THROTTLE_THRESHOLD
set inav_gravity_cal_tolerance = 150
set inav_max_surface_altitude = 300
set inav_w_z_baro_p =  1.000
set inav_w_xy_gps_p =  0.500
set inav_w_xy_gps_v =  0.000
set inav_w_acc_bias =  0.000
set nav_mc_althold_throttle = MID_STICK
set nav_wp_radius = 200
set nav_wp_enforce_altitude = 50
set nav_fw_wp_tracking_accuracy = 4
set nav_fw_wp_turn_smoothing = ON
set nav_auto_speed = 30
set nav_max_auto_speed = 100
set nav_auto_climb_rate = 300
set nav_manual_speed = 100
set nav_manual_climb_rate = 300
set nav_max_terrain_follow_alt = 200
set nav_mc_braking_boost_factor = 200
set nav_mc_pos_deceleration_time = 150
set telemetry_switch = ON

# mixer_profile
mixer_profile 1

set model_preview_type = 3

# Mixer: motor mixer

mmix reset

mmix 0  1.000 -1.000  1.000 -1.000
mmix 1  1.000 -1.000 -1.000  1.000
mmix 2  1.000  1.000  1.000  1.000
mmix 3  1.000  1.000 -1.000 -1.000

# Mixer: servo mixer

# mixer_profile
mixer_profile 2


# Mixer: motor mixer

# Mixer: servo mixer

# profile
profile 1

set mc_i_pitch = 20
set mc_d_pitch = 20
set mc_cd_pitch = 10
set mc_i_roll = 20
set mc_d_roll = 20
set mc_cd_roll = 10
set mc_p_yaw = 76
set mc_i_yaw = 57
set mc_d_yaw = 13
set mc_cd_yaw = 79
set nav_mc_pos_z_p = 100
set nav_mc_vel_z_p = 50
set nav_mc_vel_z_i = 20
set nav_mc_vel_z_d = 5
set nav_mc_pos_xy_p = 20
set nav_mc_vel_xy_p = 25
set nav_mc_vel_xy_i = 10
set nav_mc_vel_xy_d = 40
set nav_mc_vel_xy_ff = 10
set tpa_rate = 20
set tpa_breakpoint = 1200
set rc_expo = 0
set rc_yaw_expo = 75
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 40
set manual_rc_expo = 0

# profile
profile 2

set mc_i_pitch = 90
set mc_d_pitch = 27
set mc_p_roll = 36
set mc_i_roll = 80
set mc_d_roll = 25
set mc_p_yaw = 35
set mc_i_yaw = 80
set dterm_lpf_type = PT3
set d_boost_min =  1.000
set d_boost_max =  1.000
set antigravity_gain =  2.000
set antigravity_accelerator =  5.000
set smith_predictor_delay =  1.500
set tpa_rate = 20
set tpa_breakpoint = 1200
set rc_expo = 75
set rc_yaw_expo = 75
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60

# profile
profile 3

set mc_p_pitch = 20
set mc_i_pitch = 10
set mc_d_pitch = 6
set mc_cd_pitch = 13
set mc_p_roll = 21
set mc_i_roll = 10
set mc_d_roll = 6
set mc_cd_roll = 13
set mc_p_yaw = 22
set mc_i_yaw = 18
set mc_cd_yaw = 19
set dterm_lpf_type = PT3
set nav_mc_vel_xy_p = 60
set nav_mc_vel_xy_i = 25
set nav_mc_vel_xy_dterm_lpf_hz =  1.000
set nav_mc_vel_xy_dterm_attenuation_start = 60
set nav_mc_vel_xy_dterm_attenuation_end = 100
set smith_predictor_delay =  1.500
set rc_expo = 75
set rc_yaw_expo = 90
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 30

# battery_profile
battery_profile 1


# battery_profile
battery_profile 2


# battery_profile
battery_profile 3


# restore original profile selection
mixer_profile 1
profile 1
battery_profile 1

# save configuration
save

#