copter-configs/0_x666/2016-03-19.txt

# cleanflight backup 2016-03-19 v1.11

# version
# Cleanflight/NAZE 1.11.0 Nov 28 2015 / 15:30:06 (0c82a7b)
# dump master

# mixer
mixer QUADX
mmix reset
smix reset


# feature
feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -ONESHOT125
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature RX_PPM
feature VBAT
feature GPS
feature FAILSAFE
feature CURRENT_METER
feature RSSI_ADC
feature LED_STRIP
feature ONESHOT125


# map
map AETR1234


# serial
serial 0 1 115200 57600 0 115200
serial 1 2 115200 57600 0 115200


# led
led 0 9,9:ESD:IW:0
led 1 12,12:ESD:WF:0
led 2 15,15:ESD:FT:0
led 3 9,6:NED:IW:0
led 4 12,3:NED:WF:0
led 5 15,0:NED:FT:1
led 6 6,9:SWD:IW:0
led 7 3,12:SWD:WF:0
led 8 0,15:SWD:FT:0
led 9 6,6:NWD:IW:0
led 10 3,3:NWD:WF:0
led 11 0,0:NWD:FT:1
led 12 0,0:::0
led 13 0,0:::0
led 14 0,0:::0
led 15 0,0:::0
led 16 0,0:::0
led 17 0,0:::0
led 18 0,0:::0
led 19 0,0:::0
led 20 0,0:::0
led 21 0,0:::0
led 22 0,0:::0
led 23 0,0:::0
led 24 0,0:::0
led 25 0,0:::0
led 26 0,0:::0
led 27 0,0:::0
led 28 0,0:::0
led 29 0,0:::0
led 30 0,0:::0
led 31 0,0:::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

set looptime = 3500
set emf_avoidance = OFF
set i2c_overclock = OFF
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rssi_ppm_invert = OFF
set rc_smoothing = ON
set input_filtering_mode = OFF
set min_throttle = 1050
set max_throttle = 2000
set min_command = 950
set servo_center_pulse = 1500
set 3d_deadband_low = 0
set 3d_deadband_high = 0
set 3d_neutral = 0
set 3d_deadband_throttle = 0
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set retarded_arm = OFF
set disarm_kill_switch = ON
set auto_disarm_delay = 5
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
set gps_provider = UBLOX
set gps_sbas_mode = EGNOS
set gps_auto_config = ON
set gps_auto_baud = OFF
set serialrx_provider = SPEK1024
set spektrum_sat_bind = 0
set telemetry_switch = OFF
set telemetry_inversion = OFF
set frsky_default_lattitude =  0.000
set frsky_default_longitude =  0.000
set frsky_coordinates_format = 0
set frsky_unit = IMPERIAL
set frsky_vfas_precision = 0
set hott_alarm_sound_interval = 5
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 34
set current_meter_scale = 600
set current_meter_offset = 0
set multiwii_current_meter_output = OFF
set current_meter_type = ADC
set align_gyro = DEFAULT
set align_acc = DEFAULT
set align_mag = CW180FLIP
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set max_angle_inclination = 500
set gyro_lpf = 42
set moron_threshold = 32
set gyro_cmpf_factor = 600
set gyro_cmpfm_factor = 250
set yaw_control_direction = 1
set pid_at_min_throttle = ON
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = ON
set servo_lowpass_freq = 400
set servo_lowpass_enable = OFF
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1100
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = 0
set baro_hardware = 0
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = SERIAL
set magzero_x = -164
set magzero_y = 85
set magzero_z = -37

# 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

# dump profile

# profile
profile 0

# aux
aux 0 0 0 1200 2100
aux 1 2 0 1500 2100
aux 2 5 0 1800 2100
aux 3 6 0 2000 2100
aux 4 12 1 1900 2100
aux 5 14 1 1500 2000
aux 6 18 1 1300 1700
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

# adjrange
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0

# rxrange
rxrange 0 1010 1960
rxrange 1 1070 1970
rxrange 2 1050 1990
rxrange 3 1070 2000

# servo
servo 0 1000 2000 1500 90 90 100 -1
servo 1 1000 2000 1500 90 90 100 -1
servo 2 1000 2000 1500 90 90 100 -1
servo 3 1000 2000 1500 90 90 100 -1
servo 4 1000 2000 1500 90 90 100 -1
servo 5 1000 2000 1500 90 90 100 -1
servo 6 1000 2000 1500 90 90 100 -1
servo 7 1000 2000 1500 90 90 100 -1

set gps_pos_p = 15
set gps_pos_i = 0
set gps_pos_d = 0
set gps_posr_p = 34
set gps_posr_i = 14
set gps_posr_d = 53
set gps_nav_p = 25
set gps_nav_i = 33
set gps_nav_d = 83
set gps_wp_radius = 200
set nav_controls_heading = ON
set nav_speed_min = 100
set nav_speed_max = 300
set nav_slew_rate = 30
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 0
set yaw_deadband = 0
set throttle_correction_value = 0
set throttle_correction_angle = 800
set default_rate_profile = 0
set gimbal_mode = NORMAL
set acc_lpf_factor = 4
set accxy_deadband = 40
set accz_deadband = 40
set accz_lpf_cutoff =  5.000
set acc_unarmedcal = ON
set acc_trim_pitch = 0
set acc_trim_roll = 0
set baro_tab_size = 21
set baro_noise_lpf =  0.600
set baro_cf_vel =  0.985
set baro_cf_alt =  0.965
set mag_declination = 0
set pid_controller = LUX
set p_pitch = 40
set i_pitch = 30
set d_pitch = 23
set p_roll = 40
set i_roll = 30
set d_roll = 23
set p_yaw = 85
set i_yaw = 45
set d_yaw = 0
set p_pitchf =  1.400
set i_pitchf =  0.400
set d_pitchf =  0.030
set p_rollf =  1.400
set i_rollf =  0.400
set d_rollf =  0.030
set p_yawf =  3.500
set i_yawf =  0.400
set d_yawf =  0.010
set yaw_p_limit = 500
set level_horizon =  3.000
set level_angle =  5.000
set sensitivity_horizon = 75
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 90
set i_level = 10
set d_level = 100
set p_vel = 120
set i_vel = 45
set d_vel = 1
set dterm_cut_hz = 0
set pterm_cut_hz = 0
set gyro_cut_hz = 0

# dump rates

# rateprofile
rateprofile 0

set rc_rate = 90
set rc_expo = 20
set rc_yaw_expo = 20
set thr_mid = 50
set thr_expo = 0
set roll_rate = 0
set pitch_rate = 0
set yaw_rate = 15
set tpa_rate = 0
set tpa_breakpoint = 1500