Ahora en version INAV Shackelton-Inav
Betaflight 4.2.9 - (4 KHz PID Loop Frequency))
BlueJay 0.13 RPM Filtering - DSHOT300
#
# diff all
# version
# Betaflight / STM32F411 (S411) 4.2.9 Apr 27 2021 / 19:33:23 (e097f4ab7) MSP API: 1.43
# config: manufacturer_id: FLWO, board_name: FLYWOOF411, version: 3a35e73b, date: 2019-09-30T05:46:12Z
# start the command batch
batch start
# reset configuration to default settings
defaults nosave
board_name FLYWOOF411
manufacturer_id FLWO
mcu_id 003800323030510431333433
signature
# name: Shackleton
# resources
resource MOTOR 2 B03
resource MOTOR 3 B10
resource MOTOR 4 A15
resource MOTOR 5 NONE
resource PWM 1 NONE
resource PWM 2 NONE
resource LED_STRIP 1 A00
resource SERIAL_TX 1 A09
resource SERIAL_TX 11 B06
resource SERIAL_RX 1 A10
resource SERIAL_RX 11 B07
resource CAMERA_CONTROL 1 NONE
resource ADC_BATT 1 B01
resource ADC_RSSI 1 NONE
resource PINIO 1 NONE
resource GYRO_EXTI 1 B05
# timer
timer B03 AF1
# pin B03: TIM2 CH2 (AF1)
timer B06 AF2
# pin B06: TIM4 CH1 (AF2)
timer B07 AF2
# pin B07: TIM4 CH2 (AF2)
timer A00 AF2
# pin A00: TIM5 CH1 (AF2)
# dma
dma pin B03 0
# pin B03: DMA1 Stream 6 Channel 3
dma pin B06 0
# pin B06: DMA1 Stream 0 Channel 2
dma pin B07 0
# pin B07: DMA1 Stream 3 Channel 2
dma pin A00 0
# pin A00: DMA1 Stream 2 Channel 6
# mixer
mmix 0 1.000 -0.809 0.659 -1.000
mmix 1 1.000 -1.000 -0.659 1.000
mmix 2 1.000 0.809 0.659 1.000
mmix 3 1.000 1.000 -0.659 -1.000
# feature
feature -RX_PARALLEL_PWM
feature MOTOR_STOP
feature GPS
# serial
serial 0 64 115200 57600 0 115200
serial 1 2 115200 57600 0 115200
serial 30 2048 115200 57600 0 115200
# led
led 0 6,6::CO:8
led 1 7,6::CO:8
led 2 8,6::CO:8
led 3 9,6::CO:8
# aux
aux 0 0 0 1750 2100 0 0
aux 1 1 1 1400 1775 0 0
aux 2 46 1 1800 1950 0 0
aux 3 46 1 1550 1675 0 0
aux 4 13 1 1925 2000 0 0
aux 5 13 1 1800 1900 0 0
aux 6 13 1 1675 1725 0 0
aux 7 13 1 1150 1225 0 0
aux 8 13 1 1125 1175 0 0
aux 9 35 1 900 1250 0 0
aux 10 36 0 900 900 0 13
# vtxtable
vtxtable bands 5
vtxtable channels 8
vtxtable band 1 BOSCAM_A A FACTORY 5865 5845 5825 5805 5785 5765 5745 5725
vtxtable band 2 BOSCAM_B B FACTORY 5733 5752 5771 5790 5809 5828 5847 5866
vtxtable band 3 BOSCAM_E E FACTORY 5705 5685 5665 0 5885 5905 5925 0
vtxtable band 4 FATSHARK F FACTORY 5740 5760 5780 5800 5820 5840 5860 5880
vtxtable band 5 RACEBAND R FACTORY 5658 5695 5732 5769 5806 5843 5880 5917
vtxtable powerlevels 4
vtxtable powervalues 14 23 27 29
vtxtable powerlabels 25 200 500 800
# rxfail
rxfail 6 s 2000
# master
set gyro_lowpass2_hz = 325
set yaw_spin_recovery = ON
set dyn_lpf_gyro_min_hz = 260
set dyn_lpf_gyro_max_hz = 650
set acc_calibration = 11,-29,-110,1
set mag_hardware = NONE
set min_check = 1005
set max_check = 1980
set rc_smoothing_derivative_type = BIQUAD
set serialrx_provider = CRSF
set dshot_bidir = ON
set motor_pwm_protocol = DSHOT300
set motor_poles = 12
set failsafe_procedure = GPS-RESCUE
set vbat_min_cell_voltage = 310
set vbat_warning_cell_voltage = 320
set yaw_motors_reversed = ON
set small_angle = 180
set gps_provider = UBLOX
set gps_sbas_mode = AUTO
set gps_auto_baud = ON
set gps_ublox_use_galileo = ON
set gps_set_home_point_once = ON
set gps_rescue_angle = 25
set gps_rescue_throttle_min = 1300
set gps_rescue_throttle_hover = 1400
set gps_rescue_sanity_checks = RESCUE_SANITY_FS_ONLY
set gps_rescue_min_sats = 5
set gps_rescue_allow_arming_without_fix = ON
set report_cell_voltage = ON
set osd_warn_link_quality = ON
set osd_vbat_pos = 257
set osd_rssi_pos = 129
set osd_link_quality_pos = 2135
set osd_rssi_dbm_pos = 161
set osd_tim_1_pos = 353
set osd_tim_2_pos = 2519
set osd_flymode_pos = 2062
set osd_throttle_pos = 2487
set osd_vtx_channel_pos = 2067
set osd_current_pos = 2465
set osd_mah_drawn_pos = 2498
set osd_craft_name_pos = 2507
set osd_gps_speed_pos = 216
set osd_gps_lon_pos = 2081
set osd_gps_lat_pos = 2049
set osd_gps_sats_pos = 119
set osd_home_dir_pos = 2127
set osd_home_dist_pos = 2094
set osd_flight_dist_pos = 85
set osd_altitude_pos = 2099
set osd_warnings_pos = 14571
set osd_avg_cell_voltage_pos = 2434
set osd_disarmed_pos = 2411
set osd_flip_arrow_pos = 65
set osd_core_temp_pos = 248
set osd_log_status_pos = 97
set osd_stat_rtc_date_time = ON
set osd_stat_max_dist = ON
set osd_stat_endbatt = ON
set osd_stat_min_link_quality = ON
set cpu_overclock = OFF
set vtx_band = 5
set vtx_channel = 8
set vtx_power = 4
set vtx_low_power_disarm = UNTIL_FIRST_ARM
set vtx_freq = 5917
set gyro_1_align_yaw = 1800
set name = Shackleton
profile 0
# profile 0
set dyn_lpf_dterm_min_hz = 91
set dyn_lpf_dterm_max_hz = 221
set dterm_lowpass2_hz = 195
set anti_gravity_gain = 5000
set iterm_relax_cutoff = 20
set p_pitch = 52
set i_pitch = 63
set d_pitch = 68
set f_pitch = 80
set p_roll = 47
set i_roll = 59
set d_roll = 63
set f_roll = 76
set p_yaw = 50
set i_yaw = 63
set f_yaw = 76
set d_min_roll = 41
set d_min_pitch = 45
set d_min_boost_gain = 27
profile 1
profile 2
# restore original profile selection
profile 0
rateprofile 0
# rateprofile 0
set rates_type = ACTUAL
set roll_rc_rate = 15
set pitch_rc_rate = 15
set yaw_rc_rate = 15
set roll_expo = 40
set pitch_expo = 40
set yaw_expo = 40
set roll_srate = 80
set pitch_srate = 80
set yaw_srate = 65
set tpa_breakpoint = 1250
rateprofile 1
rateprofile 2
rateprofile 3
rateprofile 4
rateprofile 5
# restore original rateprofile selection
rateprofile 0
# save configuration
save
#