Test de INAV, normalmente prefiero su compañero 7inch RedGryphus
RM Zorro -> BetaFPV Nano RX : -51db
INAV 5.0 - (2 KHz PID Loop Frequency))
BlueJay 0.16
Entering CLI Mode, type 'exit' to return, or 'help'
# diff all
# version
# INAV/FLYWOOF411_V2 5.0.0 Jun 20 2022 / 10:09:35 (d2adf35c)
# GCC-10.2.1 20201103 (release)
# start the command batch
batch start
# reset configuration to default settings
defaults noreboot
# resources
# mixer
mmix reset
mmix 0 1.000 -0.733 0.638 -1.000
mmix 1 1.000 -1.000 -0.638 1.000
mmix 2 1.000 0.733 0.638 1.000
mmix 3 1.000 1.000 -0.638 -1.000
# servo mix
# servo
# safehome
# logic
# gvar
# pid
# feature
feature -BLACKBOX
feature GPS
feature CURRENT_METER
feature LED_STRIP
feature PWM_OUTPUT_ENABLE
# beeper
beeper -ON_USB
# blackbox
blackbox -NAV_ACC
blackbox NAV_POS
blackbox NAV_PID
blackbox MAG
blackbox ACC
blackbox ATTI
blackbox RC_DATA
blackbox RC_COMMAND
blackbox MOTORS
# map
# serial
serial 1 2 115200 115200 0 115200
serial 30 2048 115200 115200 0 115200
# led
led 0 6,6::CO:3
led 1 7,6::CO:3
led 2 8,6::CO:3
led 3 9,6::CO:3
# color
# mode_color
# aux
aux 0 0 0 1750 2100
aux 1 51 1 1750 2075
aux 2 11 5 1275 1675
aux 3 10 5 1750 2100
aux 4 3 5 1300 1700
aux 5 52 6 1775 2100
aux 6 13 1 1750 2100
# adjrange
# rxrange
# temp_sensor
# wp
#wp 0 invalid
# osd_layout
osd_layout 0 0 23 0 H
osd_layout 0 1 12 0 H
osd_layout 0 4 8 6 V
osd_layout 0 6 23 13 V
osd_layout 0 7 14 0 V
osd_layout 0 8 8 14 V
osd_layout 0 9 22 13 H
osd_layout 0 10 22 0 V
osd_layout 0 11 0 12 V
osd_layout 0 12 0 13 V
osd_layout 0 13 24 8 V
osd_layout 0 14 0 11 H
osd_layout 0 15 3 8 V
osd_layout 0 22 14 2 H
osd_layout 0 23 1 1 V
osd_layout 0 28 0 0 H
osd_layout 0 30 2 4 V
osd_layout 0 31 1 2 V
osd_layout 0 32 0 14 V
osd_layout 0 33 23 14 V
osd_layout 0 34 9 1 V
osd_layout 0 45 0 0 V
osd_layout 0 97 1 0 V
osd_layout 0 109 22 2 V
osd_layout 0 110 22 1 V
osd_layout 0 112 24 3 V
# master
set looptime = 500
set gyro_main_lpf_hz = 110
set gyro_main_lpf_type = PT1
set dynamic_gyro_notch_q = 200
set setpoint_kalman_q = 200
set gyro_zero_x = 206
set gyro_zero_y = 118
set gyro_zero_z = -5
set ins_gravity_cmss = 1009.936
set acc_hardware = MPU6000
set acczero_x = 46
set acczero_y = 30
set acczero_z = -115
set accgain_x = 4065
set accgain_y = 4110
set accgain_z = 4020
set align_mag = CW90
set mag_hardware = QMC5883
set magzero_x = 341
set magzero_y = 251
set magzero_z = -136
set maggain_x = 845
set maggain_y = 806
set maggain_z = 594
set baro_hardware = BMP280
set min_check = 1050
set serialrx_provider = CRSF
set serialrx_halfduplex = OFF
set blackbox_rate_denom = 2
set motor_pwm_rate = 4000
set motor_pwm_protocol = DSHOT300
set motor_poles = 12
set failsafe_delay = 2
set failsafe_off_delay = 100
set failsafe_procedure = RTH
set align_board_roll = -4
set align_board_pitch = -2
set current_meter_scale = 205
set current_meter_offset = 16
set motor_direction_inverted = ON
set model_preview_type = 3
set applied_defaults = 2
set gps_provider = UBLOX7
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set airmode_type = THROTTLE_THRESHOLD
set nav_disarm_on_landing = ON
set nav_use_midthr_for_althold = ON
set nav_auto_speed = 1000
set nav_manual_speed = 900
set nav_mc_auto_disarm_delay = 1000
set report_cell_voltage = ON
set osd_video_system = PAL
set osd_alt_alarm = 300
set osd_dist_alarm = 0
set osd_link_quality_alarm = 50
set osd_rssi_dbm_alarm = -110
set osd_crsf_lq_format = TYPE2
set osd_left_sidebar_scroll = ALTITUDE
set osd_right_sidebar_scroll = SPEED
set osd_sidebar_scroll_arrows = ON
set i2c_speed = 800KHZ
set name = Shackelton
set vtx_band = 5
set vtx_channel = 8
set vtx_power = 4
set vtx_low_power_disarm = UNTIL_FIRST_ARM
set dji_use_name_for_messages = OFF
set dshot_beeper_enabled = OFF
# profile
profile 1
set mc_p_pitch = 52
set mc_i_pitch = 63
set mc_d_pitch = 45
set mc_cd_pitch = 80
set mc_p_roll = 47
set mc_i_roll = 59
set mc_d_roll = 41
set mc_cd_roll = 76
set mc_p_yaw = 50
set mc_i_yaw = 63
set mc_cd_yaw = 76
set max_angle_inclination_rll = 400
set max_angle_inclination_pit = 400
set dterm_lpf_hz = 100
set dterm_lpf_type = PT1
set dterm_lpf2_hz = 170
set yaw_lpf_hz = 30
set antigravity_gain = 2.000
set antigravity_accelerator = 5.000
set tpa_breakpoint = 1250
set rc_expo = 80
set rc_yaw_expo = 80
set roll_rate = 85
set pitch_rate = 85
set yaw_rate = 70
# profile
profile 2
set mc_p_pitch = 52
set mc_i_pitch = 63
set mc_d_pitch = 45
set mc_cd_pitch = 68
set mc_p_roll = 47
set mc_i_roll = 59
set mc_d_roll = 41
set mc_cd_roll = 63
set mc_p_yaw = 50
set mc_i_yaw = 63
set mc_cd_yaw = 0
set max_angle_inclination_rll = 400
set max_angle_inclination_pit = 400
set tpa_breakpoint = 1350
set rc_expo = 80
set rc_yaw_expo = 80
set roll_rate = 85
set pitch_rate = 85
set yaw_rate = 70
# profile
profile 3
# battery_profile
battery_profile 1
set bat_cells = 4
set vbat_max_cell_voltage = 430
set vbat_min_cell_voltage = 290
set vbat_warning_cell_voltage = 310
set battery_capacity = 2600
set throttle_idle = 7.000
set nav_mc_hover_thr = 1700
# battery_profile
battery_profile 2
set battery_capacity = 1300
# battery_profile
battery_profile 3
# restore original profile selection
profile 2
battery_profile 1
# save configuration
save
diff all
# version
# INAV/FLYWOOF411_V2 4.1.0 Feb 11 2022 / 10:00:43 (611d26f4)
# GCC-10.2.1 20201103 (release)
# start the command batch
batch start
# reset configuration to default settings
defaults noreboot
# resources
# mixer
mmix reset
mmix 0 1.000 -0.733 0.638 -1.000
mmix 1 1.000 -1.000 -0.638 1.000
mmix 2 1.000 0.733 0.638 1.000
mmix 3 1.000 1.000 -0.638 -1.000
# servo mix
# servo
# safehome
# logic
# gvar
# pid
# feature
feature GPS
feature CURRENT_METER
feature PWM_OUTPUT_ENABLE
# beeper
beeper -ON_USB
# blackbox
blackbox -NAV_ACC
blackbox NAV_POS
blackbox NAV_PID
blackbox MAG
blackbox ACC
blackbox ATTI
blackbox RC_DATA
blackbox RC_COMMAND
blackbox MOTORS
# map
# serial
serial 1 2 115200 115200 0 115200
serial 30 2048 115200 115200 0 115200
# led
# color
# mode_color
# aux
aux 0 0 0 1750 2100
aux 1 51 1 1750 2075
aux 2 10 5 1750 2100
aux 3 11 5 1275 1675
aux 4 52 6 1775 2100
aux 5 13 1 1750 2100
# adjrange
# rxrange
# temp_sensor
# wp
#wp 0 invalid
# osd_layout
osd_layout 0 0 23 0 H
osd_layout 0 1 12 0 H
osd_layout 0 4 8 6 V
osd_layout 0 6 23 13 V
osd_layout 0 7 14 0 V
osd_layout 0 8 8 14 V
osd_layout 0 9 22 13 H
osd_layout 0 10 22 0 V
osd_layout 0 11 0 12 V
osd_layout 0 12 0 13 V
osd_layout 0 13 24 8 V
osd_layout 0 14 0 11 H
osd_layout 0 15 3 8 V
osd_layout 0 22 14 2 H
osd_layout 0 23 1 1 V
osd_layout 0 28 0 0 H
osd_layout 0 30 2 4 V
osd_layout 0 31 1 2 V
osd_layout 0 32 0 14 V
osd_layout 0 33 23 14 V
osd_layout 0 34 9 1 V
osd_layout 0 45 0 0 V
osd_layout 0 97 1 0 V
osd_layout 0 109 22 2 V
osd_layout 0 110 22 1 V
osd_layout 0 112 24 3 V
# master
set looptime = 500
set gyro_main_lpf_hz = 110
set gyro_main_lpf_type = PT1
set dynamic_gyro_notch_q = 200
set setpoint_kalman_q = 200
set acc_hardware = MPU6000
set acczero_x = 46
set acczero_y = 30
set acczero_z = -115
set accgain_x = 4065
set accgain_y = 4110
set accgain_z = 4020
set align_mag = CW90
set mag_hardware = QMC5883
set magzero_x = 341
set magzero_y = 251
set magzero_z = -136
set maggain_x = 845
set maggain_y = 806
set maggain_z = 594
set baro_hardware = BMP280
set min_check = 1050
set serialrx_provider = CRSF
set serialrx_halfduplex = OFF
set blackbox_rate_denom = 2
set motor_pwm_rate = 4000
set motor_pwm_protocol = DSHOT300
set motor_poles = 12
set failsafe_delay = 2
set failsafe_off_delay = 100
set failsafe_procedure = RTH
set align_board_roll = -2
set current_meter_scale = 205
set current_meter_offset = 16
set motor_direction_inverted = ON
set model_preview_type = 3
set applied_defaults = 2
set gps_provider = UBLOX7
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set airmode_type = THROTTLE_THRESHOLD
set nav_disarm_on_landing = ON
set nav_use_midthr_for_althold = ON
set nav_auto_speed = 800
set nav_manual_speed = 900
set nav_mc_bank_angle = 45
set report_cell_voltage = ON
set osd_video_system = PAL
set osd_alt_alarm = 300
set osd_dist_alarm = 0
set osd_link_quality_alarm = 50
set osd_rssi_dbm_alarm = -110
set osd_crsf_lq_format = TYPE2
set osd_left_sidebar_scroll = ALTITUDE
set osd_right_sidebar_scroll = SPEED
set osd_sidebar_scroll_arrows = ON
set i2c_speed = 800KHZ
set name = Shackelton
set vtx_band = 5
set vtx_channel = 8
set vtx_power = 4
set vtx_low_power_disarm = UNTIL_FIRST_ARM
set dshot_beeper_enabled = OFF
# profile
profile 1
set mc_p_pitch = 52
set mc_i_pitch = 63
set mc_d_pitch = 45
set mc_cd_pitch = 80
set mc_p_roll = 47
set mc_i_roll = 59
set mc_d_roll = 41
set mc_cd_roll = 76
set mc_p_yaw = 50
set mc_i_yaw = 63
set mc_cd_yaw = 76
set max_angle_inclination_rll = 400
set max_angle_inclination_pit = 400
set dterm_lpf_hz = 100
set dterm_lpf_type = PT1
set dterm_lpf2_hz = 170
set yaw_lpf_hz = 30
set antigravity_gain = 2.000
set antigravity_accelerator = 5.000
set tpa_breakpoint = 1250
set rc_expo = 80
set rc_yaw_expo = 80
set roll_rate = 85
set pitch_rate = 85
set yaw_rate = 70
# profile
profile 2
# profile
profile 3
# battery_profile
battery_profile 1
set bat_cells = 4
set vbat_max_cell_voltage = 430
set vbat_min_cell_voltage = 290
set vbat_warning_cell_voltage = 310
set battery_capacity = 2600
set throttle_idle = 7.000
set nav_mc_hover_thr = 1600
# battery_profile
battery_profile 2
set battery_capacity = 1300
# battery_profile
battery_profile 3
# restore original profile selection
profile 1
battery_profile 1
# save configuration
save
#
diff all
# version
# INAV/FLYWOOF411_V2 3.0.1 Jul 4 2021 / 13:40:28 (753c4479)
# GCC-9.3.1 20200408 (release)
# start the command batch
batch start
# reset configuration to default settings
defaults noreboot
# resources
# mixer
mmix reset
mmix 0 1.000 -0.733 0.638 -1.000
mmix 1 1.000 -1.000 -0.638 1.000
mmix 2 1.000 0.733 0.638 1.000
mmix 3 1.000 1.000 -0.638 -1.000
# servo mix
# servo
# safehome
# logic
# gvar
# pid
# feature
feature GPS
feature CURRENT_METER
feature PWM_OUTPUT_ENABLE
# beeper
beeper -ON_USB
# map
# serial
serial 1 2 115200 115200 0 115200
serial 30 2048 115200 115200 0 115200
# led
# color
# mode_color
# aux
aux 0 0 0 1750 2100
aux 1 51 1 1925 2000
aux 2 51 1 1150 1225
aux 3 10 1 1825 1900
aux 4 11 1 1875 1950
aux 5 5 1 1875 1950
aux 6 52 1 1150 1275
aux 7 13 1 1925 2000
aux 8 13 1 1150 1225
# adjrange
# rxrange
# temp_sensor
# wp
#wp 0 invalid
# osd_layout
osd_layout 0 0 23 0 H
osd_layout 0 1 12 0 H
osd_layout 0 4 8 6 V
osd_layout 0 6 22 14 V
osd_layout 0 7 14 0 V
osd_layout 0 8 10 14 V
osd_layout 0 9 22 13 H
osd_layout 0 10 1 1 V
osd_layout 0 11 1 13 V
osd_layout 0 12 0 14 V
osd_layout 0 13 23 7 V
osd_layout 0 14 0 11 H
osd_layout 0 15 2 7 V
osd_layout 0 22 14 2 H
osd_layout 0 23 22 2 V
osd_layout 0 28 22 13 H
osd_layout 0 30 2 11 V
osd_layout 0 32 1 12 V
osd_layout 0 33 22 13 V
osd_layout 0 34 10 1 V
osd_layout 0 45 0 0 V
osd_layout 0 97 1 0 V
osd_layout 0 109 22 1 V
osd_layout 0 110 22 0 V
# master
set looptime = 500
set gyro_main_lpf_hz = 110
set gyro_main_lpf_type = PT1
set dynamic_gyro_notch_enabled = ON
set dynamic_gyro_notch_q = 200
set acc_hardware = MPU6000
set acczero_x = 34
set acczero_y = 35
set acczero_z = -100
set accgain_x = 4065
set accgain_y = 4116
set accgain_z = 4035
set align_mag = CW90
set mag_hardware = QMC5883
set magzero_x = 113
set magzero_y = 822
set magzero_z = -1708
set maggain_x = 1084
set maggain_y = 3420
set maggain_z = 2622
set baro_hardware = BMP280
set min_check = 1050
set serialrx_provider = CRSF
set blackbox_rate_denom = 2
set motor_pwm_rate = 4000
set motor_pwm_protocol = DSHOT300
set throttle_idle = 7.000
set motor_poles = 12
set failsafe_delay = 2
set failsafe_off_delay = 100
set failsafe_procedure = RTH
set align_board_roll = -2
set current_meter_scale = 170
set motor_direction_inverted = ON
set model_preview_type = 3
set applied_defaults = 2
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set airmode_type = THROTTLE_THRESHOLD
set nav_disarm_on_landing = ON
set nav_use_midthr_for_althold = ON
set nav_auto_speed = 800
set nav_manual_speed = 900
set nav_mc_bank_angle = 45
set nav_mc_hover_thr = 1600
set report_cell_voltage = ON
set osd_alt_alarm = 300
set osd_dist_alarm = 0
set osd_link_quality_alarm = 50
set osd_rssi_dbm_alarm = -110
set osd_crsf_lq_format = TYPE2
set osd_left_sidebar_scroll = ALTITUDE
set osd_right_sidebar_scroll = SPEED
set osd_sidebar_scroll_arrows = ON
set i2c_speed = 800KHZ
set name = Shackelton
set vtx_band = 5
set vtx_channel = 8
set vtx_power = 4
set dshot_beeper_enabled = OFF
# profile
profile 1
set mc_p_pitch = 52
set mc_i_pitch = 63
set mc_d_pitch = 45
set mc_cd_pitch = 80
set mc_p_roll = 47
set mc_i_roll = 59
set mc_d_roll = 41
set mc_cd_roll = 76
set mc_p_yaw = 50
set mc_i_yaw = 63
set mc_cd_yaw = 76
set max_angle_inclination_rll = 450
set max_angle_inclination_pit = 450
set dterm_lpf_hz = 100
set dterm_lpf_type = PT1
set dterm_lpf2_hz = 170
set dterm_lpf2_type = PT1
set yaw_lpf_hz = 30
set d_boost_factor = 1.540
set antigravity_gain = 2.000
set antigravity_accelerator = 5.000
set setpoint_kalman_enabled = ON
set setpoint_kalman_q = 200
set tpa_breakpoint = 1250
set rc_yaw_expo = 70
set roll_rate = 85
set pitch_rate = 85
set yaw_rate = 70
# profile
profile 2
# profile
profile 3
# battery_profile
battery_profile 1
set bat_cells = 4
set vbat_max_cell_voltage = 430
set vbat_min_cell_voltage = 290
set vbat_warning_cell_voltage = 310
set battery_capacity = 2600
# battery_profile
battery_profile 2
# battery_profile
battery_profile 3
# restore original profile selection
profile 1
battery_profile 1
# save configuration
save
#
diff all
# version
# INAV/FLYWOOF411_V2 3.0.1 Jul 4 2021 / 13:40:28 (753c4479)
# GCC-9.3.1 20200408 (release)
# start the command batch
batch start
# reset configuration to default settings
defaults noreboot
# resources
# 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
# servo mix
# servo
# safehome
# logic
# gvar
# pid
# feature
feature -SOFTSERIAL
feature GPS
feature CURRENT_METER
feature PWM_OUTPUT_ENABLE
# beeper
beeper -ON_USB
# map
# serial
serial 1 2 115200 115200 0 115200
# led
# color
# mode_color
# aux
aux 0 0 0 1750 2100
aux 1 51 1 1925 2000
aux 2 51 1 1150 1225
aux 3 10 1 1825 1900
aux 4 11 1 1875 1950
aux 5 5 1 1875 1950
aux 6 52 1 1150 1275
aux 7 13 1 1925 2000
aux 8 13 1 1150 1225
# adjrange
# rxrange
# temp_sensor
# wp
#wp 0 invalid
# osd_layout
osd_layout 0 0 23 0 H
osd_layout 0 1 12 0 H
osd_layout 0 4 8 6 V
osd_layout 0 6 22 14 V
osd_layout 0 7 14 0 V
osd_layout 0 8 10 14 V
osd_layout 0 9 22 13 H
osd_layout 0 11 1 13 V
osd_layout 0 12 0 14 V
osd_layout 0 13 23 7 V
osd_layout 0 14 0 11 H
osd_layout 0 15 2 7 V
osd_layout 0 22 14 2 H
osd_layout 0 23 22 1 V
osd_layout 0 28 22 13 H
osd_layout 0 30 2 11 V
osd_layout 0 32 1 12 V
osd_layout 0 33 22 13 V
osd_layout 0 34 10 1 V
osd_layout 0 45 0 0 V
osd_layout 0 97 1 0 V
osd_layout 0 110 22 0 V
# master
set looptime = 500
set gyro_main_lpf_hz = 110
set gyro_main_lpf_type = PT1
set dynamic_gyro_notch_enabled = ON
set dynamic_gyro_notch_q = 200
set acc_hardware = MPU6000
set acczero_x = 34
set acczero_y = 35
set acczero_z = -100
set accgain_x = 4065
set accgain_y = 4116
set accgain_z = 4035
set align_mag = CW90
set mag_hardware = QMC5883
set magzero_x = 173
set magzero_y = -319
set magzero_z = -37
set maggain_x = 652
set maggain_y = 658
set maggain_z = 616
set baro_hardware = BMP280
set min_check = 1050
set serialrx_provider = CRSF
set blackbox_rate_denom = 2
set motor_pwm_rate = 4000
set motor_pwm_protocol = DSHOT300
set throttle_idle = 7.000
set motor_poles = 12
set failsafe_delay = 2
set failsafe_off_delay = 100
set failsafe_procedure = RTH
set align_board_roll = -2
set current_meter_scale = 170
set motor_direction_inverted = ON
set model_preview_type = 3
set applied_defaults = 2
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set airmode_type = THROTTLE_THRESHOLD
set nav_disarm_on_landing = ON
set nav_use_midthr_for_althold = ON
set nav_auto_speed = 700
set nav_manual_speed = 1000
set nav_mc_bank_angle = 40
set report_cell_voltage = ON
set osd_alt_alarm = 300
set osd_dist_alarm = 0
set osd_link_quality_alarm = 50
set osd_crsf_lq_format = TYPE2
set osd_left_sidebar_scroll = ALTITUDE
set osd_right_sidebar_scroll = SPEED
set osd_sidebar_scroll_arrows = ON
set i2c_speed = 800KHZ
set name = Shackelton
set dshot_beeper_enabled = OFF
# profile
profile 1
set mc_p_pitch = 52
set mc_i_pitch = 63
set mc_d_pitch = 45
set mc_cd_pitch = 80
set mc_p_roll = 47
set mc_i_roll = 59
set mc_d_roll = 41
set mc_cd_roll = 76
set mc_p_yaw = 50
set mc_i_yaw = 63
set mc_cd_yaw = 76
set dterm_lpf_hz = 100
set dterm_lpf_type = PT1
set dterm_lpf2_hz = 170
set dterm_lpf2_type = PT1
set yaw_lpf_hz = 30
set d_boost_factor = 1.540
set antigravity_gain = 2.000
set antigravity_accelerator = 5.000
set setpoint_kalman_enabled = ON
set setpoint_kalman_q = 200
set tpa_breakpoint = 1250
set rc_expo = 54
set rc_yaw_expo = 54
set roll_rate = 85
set pitch_rate = 85
set yaw_rate = 70
# profile
profile 2
# profile
profile 3
# battery_profile
battery_profile 1
set bat_cells = 4
set vbat_max_cell_voltage = 430
set vbat_min_cell_voltage = 290
set vbat_warning_cell_voltage = 310
set battery_capacity = 2600
# battery_profile
battery_profile 2
# battery_profile
battery_profile 3
# restore original profile selection
profile 1
battery_profile 1
# save configuration
save
#