# version
# INAV/MAMBAH743_2022B 7.0.0 Dec  5 2023 / 10:26:54 (895a4f31)
# GCC-10.3.1 20210824 (release)

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# Timer overrides

# Outputs [servo]

# safehome

# features
feature -CURRENT_METER
feature PWM_OUTPUT_ENABLE

# beeper

# 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 0 1 115200 115200 0 115200
serial 1 64 115200 115200 0 115200
serial 3 0 115200 115200 0 115200
serial 5 1 115200 115200 0 115200

# LEDs

# LED color

# LED mode_color

# Modes [aux]
aux 0 0 0 1300 2100
aux 1 1 0 1725 2100
aux 2 3 0 1725 2100
aux 3 33 0 1725 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]

# Programming: logic

# Programming: global variables

# Programming: PID controllers

# master
set looptime = 500
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 dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 100
set setpoint_kalman_q = 200
set gyro_zero_y = 2
set gyro_zero_z = 2
set ins_gravity_cmss =  974.224
set acc_hardware = ICM42605
set acczero_x = -2
set acczero_y = -7
set acczero_z = 35
set accgain_x = 4104
set accgain_y = 4101
set accgain_z = 4110
set rangefinder_hardware = MSP
set rangefinder_median_filter = ON
set opflow_hardware = MSP
set opflow_scale =  9.742
set align_mag = CW270FLIP
set mag_hardware = NONE
set baro_hardware = SPL06
set blackbox_rate_denom = 2
set motor_pwm_protocol = DSHOT300
set failsafe_delay = 1
set applied_defaults = 2
set airmode_type = THROTTLE_THRESHOLD
set inav_allow_dead_reckoning = ON
set inav_w_z_baro_p =  0.400

# 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 = 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 nav_mc_vel_z_p = 150
set nav_mc_vel_z_i = 250
set nav_mc_vel_z_d = 25
set nav_mc_pos_xy_p = 80
set nav_mc_vel_xy_p = 50
set nav_mc_vel_xy_i = 40
set nav_mc_vel_xy_d = 60
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 = 0
set rc_yaw_expo = 0
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60

# 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_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

# battery_profile
battery_profile 1

set bat_cells = 2
set throttle_idle =  7.000
set failsafe_throttle = 1100

# 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