# 

# diff all

# version
# Betaflight / STM32F405 (S405) 4.4.2 Jun  1 2023 / 02:47:55 (23d066d08) MSP API: 1.45

# config: YES

# start the command batch
batch start

# reset configuration to default settings
defaults nosave

board_name SPEEDYBEEF405V3
manufacturer_id SPBE
mcu_id 002700213332471132303035
signature 

# name: Pigeon2000

# feature
feature -AIRMODE
feature GPS

# serial
serial 0 131073 115200 57600 0 115200
serial 2 16384 115200 57600 0 115200
serial 5 2 115200 57600 0 115200

# beacon
beacon RX_LOST
beacon RX_SET

# aux
aux 0 0 0 1850 2100 0 0
aux 1 1 2 1300 1700 0 0
aux 2 2 2 1875 2100 0 0
aux 3 46 1 1800 2100 0 0
aux 4 13 5 1800 2100 0 0
aux 5 28 1 1300 1700 0 0
aux 6 33 6 1825 2075 0 0
aux 7 35 4 1800 2100 0 0
aux 8 36 3 1775 2100 0 0

# master
set gyro_lpf1_static_hz = 0
set dyn_notch_count = 2
set dyn_notch_min_hz = 125
set dyn_notch_max_hz = 650
set acc_lpf_hz = 10
set acc_calibration = 0,-26,23,1
set rc_smoothing_auto_factor = 52
set dshot_bidir = ON
set dshot_edt = ON
set motor_pwm_protocol = DSHOT300
set failsafe_switch_mode = STAGE2
set failsafe_procedure = GPS-RESCUE
set vbat_warning_cell_voltage = 355
set beeper_dshot_beacon_tone = 5
set yaw_motors_reversed = ON
set gps_sbas_mode = EGNOS
set gps_set_home_point_once = ON
set gps_rescue_ascend_rate = 500
set gps_rescue_max_angle = 32
set gps_rescue_throttle_hover = 1280
set gps_rescue_allow_arming_without_fix = ON
set osd_warn_bitmask = 40959
set osd_rssi_dbm_alarm = -98
set osd_cap_alarm = 1100
set osd_vbat_pos = 2065
set osd_rssi_pos = 1062
set osd_link_quality_pos = 3114
set osd_link_tx_power_pos = 341
set osd_rssi_dbm_pos = 3109
set osd_rsnr_pos = 341
set osd_tim_1_pos = 341
set osd_tim_2_pos = 3078
set osd_remaining_time_estimate_pos = 341
set osd_flymode_pos = 341
set osd_anti_gravity_pos = 341
set osd_g_force_pos = 341
set osd_throttle_pos = 341
set osd_vtx_channel_pos = 20
set osd_crosshairs_pos = 312
set osd_ah_sbar_pos = 313
set osd_ah_pos = 185
set osd_current_pos = 2599
set osd_mah_drawn_pos = 2631
set osd_wh_drawn_pos = 341
set osd_motor_diag_pos = 341
set osd_craft_name_pos = 37
set osd_pilot_name_pos = 5
set osd_gps_speed_pos = 3406
set osd_gps_lon_pos = 18467
set osd_gps_lat_pos = 18435
set osd_gps_sats_pos = 3438
set osd_home_dir_pos = 3504
set osd_home_dist_pos = 3470
set osd_flight_dist_pos = 341
set osd_compass_bar_pos = 341
set osd_altitude_pos = 2115
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_power_pos = 2567
set osd_pidrate_profile_pos = 341
set osd_warnings_pos = 2547
set osd_avg_cell_voltage_pos = 2097
set osd_pit_ang_pos = 341
set osd_rol_ang_pos = 341
set osd_battery_usage_pos = 49176
set osd_disarmed_pos = 2608
set osd_nheading_pos = 341
set osd_up_down_reference_pos = 312
set osd_ready_mode_pos = 341
set osd_esc_tmp_pos = 228
set osd_esc_rpm_pos = 11
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 = 341
set osd_log_status_pos = 341
set osd_stick_overlay_left_pos = 341
set osd_stick_overlay_right_pos = 341
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 = 32556
set osd_displayport_device = MSP
set debug_mode = GYRO_SCALED
set vcd_video_system = HD
set rpm_filter_harmonics = 2
set craft_name = Pigeon2000
set pilot_name = ellmotion

profile 0

# profile 0
set profile_name = max
set dterm_lpf1_dyn_min_hz = 90
set dterm_lpf1_dyn_max_hz = 180
set dterm_lpf1_static_hz = 90
set dterm_lpf2_static_hz = 180
set anti_gravity_gain = 120
set pidsum_limit = 1000
set pidsum_limit_yaw = 1000
set yaw_lowpass_hz = 0
set p_pitch = 82
set i_pitch = 133
set d_pitch = 54
set f_pitch = 259
set p_roll = 79
set i_roll = 126
set d_roll = 47
set f_roll = 249
set p_yaw = 79
set i_yaw = 126
set f_yaw = 249
set d_min_roll = 47
set d_min_pitch = 54
set feedforward_averaging = 2_POINT
set feedforward_smooth_factor = 45
set feedforward_jitter_factor = 8
set dyn_idle_min_rpm = 30
set simplified_master_multiplier = 160
set simplified_i_gain = 90
set simplified_pi_gain = 110
set simplified_dmax_gain = 0
set simplified_feedforward_gain = 130
set simplified_dterm_filter_multiplier = 120

profile 1

# profile 1
set profile_name = mid
set dterm_lpf1_dyn_min_hz = 90
set dterm_lpf1_dyn_max_hz = 180
set dterm_lpf1_static_hz = 90
set dterm_lpf2_static_hz = 180
set anti_gravity_gain = 120
set pidsum_limit = 1000
set pidsum_limit_yaw = 1000
set yaw_lowpass_hz = 0
set p_pitch = 82
set i_pitch = 133
set d_pitch = 54
set f_pitch = 259
set p_roll = 79
set i_roll = 126
set d_roll = 47
set f_roll = 249
set p_yaw = 79
set i_yaw = 126
set f_yaw = 249
set d_min_roll = 47
set d_min_pitch = 54
set feedforward_averaging = 2_POINT
set feedforward_smooth_factor = 45
set feedforward_jitter_factor = 8
set simplified_master_multiplier = 160
set simplified_i_gain = 90
set simplified_pi_gain = 110
set simplified_dmax_gain = 0
set simplified_feedforward_gain = 130
set simplified_dterm_filter_multiplier = 120

profile 2

# profile 2
set profile_name = aucunpid

profile 3

# restore original profile selection
profile 0

rateprofile 0

# rateprofile 0
set rateprofile_name = defaut
set rates_type = BETAFLIGHT
set roll_rc_rate = 100
set pitch_rc_rate = 100
set yaw_rc_rate = 100
set roll_srate = 70
set pitch_srate = 70
set yaw_srate = 70

rateprofile 1

# rateprofile 1
set rateprofile_name = new rate
set rates_type = BETAFLIGHT
set roll_rc_rate = 100
set pitch_rc_rate = 100
set yaw_rc_rate = 120
set roll_expo = 20
set pitch_expo = 20
set yaw_expo = 20
set roll_srate = 80
set pitch_srate = 80
set yaw_srate = 70

rateprofile 2

rateprofile 3

# restore original rateprofile selection
rateprofile 1

# save configuration
save
#