¶ Estado: Remplazada por la V2
¶ Modelo and Parts
- StuntDouble StormBird 3dPrinted Wing
- EMAX ECOII 2807 1300kv
- FLYCOLOR-Francy 2 50A ESC
- FC SpeedyBee Wing F405 mini
- HGLRC M100 GPS
- BetaFPV SuperD ExpressLRS 2.4GH
- Walksnail HD Kit V2 Double Antenna
- Gemfan 7040 BiBlade
- Lipos:
5s 3300mah
6s 1550mah
6s 1300mah
¶ Peso
- Aprox: 900gr Sin baterias
¶ SW
¶ Versions
INAV 7.1.2
¶ Configuration
¶ Diff all
¶ 2024-09-09 - INAV 7.1.2
diff all
# version
# INAV/SPEEDYBEEF405MINI_6OUTPUTS 7.1.2 Jun 1 2024 / 00:44:29 (4e1e59eb)
# GCC-10.3.1 20210824 (release)
# start the command batch
batch start
# reset configuration to default settings
defaults noreboot
# resources
# Timer overrides
# Outputs [servo]
servo 1 1000 2000 1524 -100
servo 2 1000 2000 1486 100
servo 3 500 2500 1550 -100
# safehome
# Fixed Wing Approach
# features
feature -TX_PROF_SEL
feature GPS
feature TELEMETRY
feature LED_STRIP
feature PWM_OUTPUT_ENABLE
feature FW_LAUNCH
feature FW_AUTOTRIM
# 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
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y
# Receiver: Channel map
# Ports
serial 0 64 115200 115200 0 115200
serial 1 0 115200 115200 0 115200
serial 2 2 115200 115200 0 115200
serial 3 0 115200 115200 0 115200
serial 4 33554432 115200 115200 0 115200
serial 5 1 115200 115200 0 115200
# LEDs
led 0 7,6::AOW:14
led 1 6,6::AOW:14
led 2 5,6::AOW:14
led 3 4,6::AOW:14
led 4 3,6::AOW:14
led 5 2,6::AOW:14
led 6 1,6::AOW:14
led 7 0,6::CBI:2
led 8 8,6::AOW:14
led 9 9,6::AOW:14
led 10 10,6::AOW:14
led 11 11,6::AOW:14
led 12 12,6::AOW:14
led 13 13,6::AOW:14
led 14 14,6::AOW:14
led 15 15,6::CBI:6
# LED color
# LED mode_color
mode_color 6 0 11
mode_color 6 1 12
# Modes [aux]
aux 0 0 0 1700 2100
aux 1 51 3 1975 2100
aux 2 1 1 1575 1675
aux 3 2 1 1950 2050
aux 4 12 1 1700 1800
aux 5 45 1 1450 1550
aux 6 53 1 1200 1300
aux 7 11 1 1325 1425
aux 8 10 1 900 1050
aux 9 28 1 1075 1175
aux 10 21 2 1700 2100
aux 11 54 2 900 1300
aux 12 19 3 1800 1950
aux 13 42 3 1200 1400
aux 14 43 3 1400 1600
aux 15 44 3 1600 1800
aux 16 13 3 2000 2100
# Adjustments [adjrange]
# Receiver rxrange
# temp_sensor
# Mission Control Waypoints [wp]
#wp 0 invalid
# OSD [osd_layout]
osd_layout 0 0 23 0 H
osd_layout 0 1 4 15 H
osd_layout 0 7 35 0 V
osd_layout 0 8 10 19 V
osd_layout 0 9 43 15 V
osd_layout 0 11 4 16 V
osd_layout 0 12 3 17 V
osd_layout 0 13 27 0 V
osd_layout 0 14 3 1 V
osd_layout 0 15 45 12 V
osd_layout 0 22 20 1 V
osd_layout 0 23 19 0 V
osd_layout 0 25 48 7 V
osd_layout 0 28 42 16 V
osd_layout 0 30 11 8 V
osd_layout 0 31 8 1 V
osd_layout 0 32 4 15 V
osd_layout 0 97 3 0 V
osd_layout 0 110 44 4 V
osd_layout 0 112 45 5 V
osd_layout 0 142 26 19 V
osd_layout 1 0 25 5 H
osd_layout 1 1 4 15 H
osd_layout 1 2 0 0 V
osd_layout 1 3 8 6 V
osd_layout 1 7 35 0 V
osd_layout 1 8 10 19 V
osd_layout 1 9 43 14 V
osd_layout 1 11 4 16 V
osd_layout 1 12 3 17 V
osd_layout 1 13 46 12 V
osd_layout 1 14 3 1 V
osd_layout 1 15 45 11 V
osd_layout 1 22 20 1 V
osd_layout 1 23 19 0 V
osd_layout 1 25 49 6 V
osd_layout 1 28 42 15 V
osd_layout 1 30 13 6 V
osd_layout 1 31 8 1 V
osd_layout 1 32 4 14 V
osd_layout 1 34 25 1 V
osd_layout 1 35 4 15 V
osd_layout 1 46 3 12 V
osd_layout 1 97 3 0 V
osd_layout 1 110 46 4 V
osd_layout 1 112 45 5 V
osd_layout 1 142 26 19 V
osd_layout 2 1 4 15 H
osd_layout 2 7 35 0 V
osd_layout 2 8 10 19 V
osd_layout 2 9 43 14 V
osd_layout 2 11 4 16 V
osd_layout 2 12 3 17 V
osd_layout 2 13 27 0 V
osd_layout 2 14 3 1 V
osd_layout 2 15 45 12 V
osd_layout 2 22 23 1 V
osd_layout 2 23 19 0 V
osd_layout 2 25 48 7 V
osd_layout 2 28 42 15 V
osd_layout 2 30 11 8 V
osd_layout 2 31 8 1 V
osd_layout 2 32 4 15 V
osd_layout 2 34 27 1 V
osd_layout 2 43 0 0 V
osd_layout 2 46 3 8 V
osd_layout 2 97 3 0 V
osd_layout 2 110 46 4 V
osd_layout 2 112 45 5 V
osd_layout 2 142 26 19 V
# Programming: logic
# Programming: global variables
# Programming: PID controllers
# OSD: custom elements
# master
set gyro_anti_aliasing_lpf_hz = 0
set gyro_main_lpf_hz = 125
set gyro_main_lpf_type = PT1
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set setpoint_kalman_enabled = OFF
set setpoint_kalman_q = 1
set gyro_zero_x = 26
set gyro_zero_y = -1
set gyro_zero_z = 6
set ins_gravity_cmss = 985.291
set acc_hardware = ICM42605
set acczero_x = -8
set acczero_y = -6
set acczero_z = 16
set accgain_x = 4109
set accgain_y = 4103
set accgain_z = 4108
set align_mag = CW270FLIP
set mag_hardware = NONE
set baro_hardware = DPS310
set serialrx_provider = CRSF
set motor_pwm_protocol = DSHOT300
set motor_poles = 12
set failsafe_procedure = RTH
set align_board_yaw = 1800
set small_angle = 180
set applied_defaults = 4
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set gps_ublox_use_glonass = ON
set deadband = 2
set yaw_deadband = 2
set airmode_type = STICK_CENTER_ONCE
set nav_wp_radius = 5000
set nav_wp_max_safe_distance = 500
set nav_rth_allow_landing = FS_ONLY
set nav_rth_altitude = 5000
set nav_fw_bank_angle = 45
set nav_fw_control_smoothness = 2
set nav_fw_launch_max_angle = 80
set nav_fw_launch_idle_motor_delay = 500
set nav_fw_launch_motor_delay = 100
set nav_fw_launch_min_time = 2000
set nav_fw_launch_timeout = 10000
set nav_fw_launch_max_altitude = 5000
set nav_fw_launch_climb_angle = 30
set osd_video_system = AVATAR
set osd_time_alarm = 15
set osd_alt_alarm = 400
set osd_dist_alarm = 2000
set osd_crosshairs_style = TYPE6
set osd_crsf_lq_format = TYPE2
set osd_failsafe_switch_layout = ON
set i2c_speed = 800KHZ
set name = STORMBIRD
set pilot_name = PELADO FPV
set vtx_band = 5
set vtx_channel = 8
set vtx_power = 5
set dshot_beeper_enabled = OFF
# mixer_profile
mixer_profile 1
set platform_type = AIRPLANE
set model_preview_type = 8
set motorstop_on_low = ON
# Mixer: motor mixer
mmix reset
mmix 0 1.000 0.000 0.000 0.000
# Mixer: servo mixer
smix reset
smix 0 1 0 60 0 -1
smix 1 1 1 60 0 -1
smix 2 2 0 -60 0 -1
smix 3 2 1 60 0 -1
smix 4 3 15 100 0 -1
# mixer_profile
mixer_profile 2
# Mixer: motor mixer
# Mixer: servo mixer
# profile
profile 1
set fw_p_pitch = 15
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 106
set fw_p_roll = 15
set fw_i_roll = 3
set fw_d_roll = 7
set fw_ff_roll = 102
set fw_p_yaw = 20
set fw_i_yaw = 0
set fw_d_yaw = 20
set fw_ff_yaw = 100
set max_angle_inclination_rll = 550
set dterm_lpf_hz = 100
set fw_turn_assist_pitch_gain = 0.300
set nav_fw_pos_z_p = 35
set nav_fw_pos_z_d = 8
set nav_fw_pos_xy_p = 70
set d_boost_min = 1.000
set d_boost_max = 1.000
set fw_level_pitch_trim = 1.000
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 15
set pitch_rate = 10
set yaw_rate = 3
# profile
profile 2
# profile
profile 3
# battery_profile
battery_profile 1
set vbat_max_cell_voltage = 410
set vbat_min_cell_voltage = 500
set vbat_warning_cell_voltage = 330
set throttle_idle = 5.000
set nav_fw_launch_idle_thr = 1150
# 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
#
¶ 2024-07-05 - INAV 7.1.1
diff all
# version
# INAV/SPEEDYBEEF405MINI 7.1.1 May 6 2024 / 12:46:47 (dd91a871)
# GCC-10.3.1 20210824 (release)
# start the command batch
batch start
# reset configuration to default settings
defaults noreboot
# resources
# Timer overrides
# Outputs [servo]
servo 1 1000 2000 1500 -100
# safehome
# Fixed Wing Approach
# features
feature -TX_PROF_SEL
feature GPS
feature TELEMETRY
feature LED_STRIP
feature PWM_OUTPUT_ENABLE
feature FW_LAUNCH
feature FW_AUTOTRIM
# 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
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y
# Receiver: Channel map
# Ports
serial 0 64 115200 115200 0 115200
serial 1 0 115200 115200 0 115200
serial 2 2 115200 115200 0 115200
serial 3 0 115200 115200 0 115200
serial 4 33554432 115200 115200 0 115200
serial 5 1 115200 115200 0 115200
# LEDs
led 0 7,6::AOW:14
led 1 6,6::AOW:14
led 2 5,6::AOW:14
led 3 4,6::AOW:14
led 4 3,6::AOW:14
led 5 2,6::AOW:14
led 6 1,6::AOW:14
led 7 0,6::CBI:2
led 8 8,6::AOW:14
led 9 9,6::AOW:14
led 10 10,6::AOW:14
led 11 11,6::AOW:14
led 12 12,6::AOW:14
led 13 13,6::AOW:14
led 14 14,6::AOW:14
led 15 15,6::CBI:6
# LED color
# LED mode_color
mode_color 6 0 11
mode_color 6 1 12
# Modes [aux]
aux 0 0 0 1700 2100
aux 1 51 3 1975 2100
aux 2 1 1 1575 1675
aux 3 2 1 1950 2050
aux 4 12 1 1700 1800
aux 5 45 1 1450 1550
aux 6 53 1 1200 1300
aux 7 11 1 1325 1425
aux 8 10 1 900 1050
aux 9 28 1 1075 1175
aux 10 21 2 1700 2100
aux 11 54 2 900 1300
aux 12 19 3 1800 1950
aux 13 42 3 1200 1400
aux 14 43 3 1400 1600
aux 15 44 3 1600 1800
aux 16 13 3 2000 2100
# Adjustments [adjrange]
# Receiver rxrange
# temp_sensor
# Mission Control Waypoints [wp]
#wp 0 invalid
# OSD [osd_layout]
osd_layout 0 0 23 0 H
osd_layout 0 1 4 15 H
osd_layout 0 7 35 0 V
osd_layout 0 8 10 19 V
osd_layout 0 9 43 15 V
osd_layout 0 11 4 16 V
osd_layout 0 12 3 17 V
osd_layout 0 13 27 0 V
osd_layout 0 14 3 1 V
osd_layout 0 15 45 12 V
osd_layout 0 22 20 1 V
osd_layout 0 23 19 0 V
osd_layout 0 25 48 7 V
osd_layout 0 28 42 16 V
osd_layout 0 30 11 8 V
osd_layout 0 31 8 1 V
osd_layout 0 32 4 15 V
osd_layout 0 97 3 0 V
osd_layout 0 110 44 4 V
osd_layout 0 112 45 5 V
osd_layout 0 142 26 19 V
osd_layout 1 0 25 5 H
osd_layout 1 1 4 15 H
osd_layout 1 2 0 0 V
osd_layout 1 3 8 6 V
osd_layout 1 7 35 0 V
osd_layout 1 8 10 19 V
osd_layout 1 9 43 14 V
osd_layout 1 11 4 16 V
osd_layout 1 12 3 17 V
osd_layout 1 13 46 12 V
osd_layout 1 14 3 1 V
osd_layout 1 15 45 11 V
osd_layout 1 22 20 1 V
osd_layout 1 23 19 0 V
osd_layout 1 25 49 6 V
osd_layout 1 28 42 15 V
osd_layout 1 30 13 6 V
osd_layout 1 31 8 1 V
osd_layout 1 32 4 14 V
osd_layout 1 34 25 1 V
osd_layout 1 35 4 15 V
osd_layout 1 46 3 12 V
osd_layout 1 97 3 0 V
osd_layout 1 110 46 4 V
osd_layout 1 112 45 5 V
osd_layout 1 142 26 19 V
osd_layout 2 1 4 15 H
osd_layout 2 7 35 0 V
osd_layout 2 8 10 19 V
osd_layout 2 9 43 14 V
osd_layout 2 11 4 16 V
osd_layout 2 12 3 17 V
osd_layout 2 13 27 0 V
osd_layout 2 14 3 1 V
osd_layout 2 15 45 12 V
osd_layout 2 22 23 1 V
osd_layout 2 23 19 0 V
osd_layout 2 25 48 7 V
osd_layout 2 28 42 15 V
osd_layout 2 30 11 8 V
osd_layout 2 31 8 1 V
osd_layout 2 32 4 15 V
osd_layout 2 34 27 1 V
osd_layout 2 43 0 0 V
osd_layout 2 46 3 8 V
osd_layout 2 97 3 0 V
osd_layout 2 110 46 4 V
osd_layout 2 112 45 5 V
osd_layout 2 142 26 19 V
# Programming: logic
# Programming: global variables
# Programming: PID controllers
# OSD: custom elements
# master
set gyro_anti_aliasing_lpf_hz = 0
set gyro_main_lpf_hz = 125
set gyro_main_lpf_type = PT1
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set setpoint_kalman_enabled = OFF
set setpoint_kalman_q = 1
set gyro_zero_x = 26
set gyro_zero_y = -1
set gyro_zero_z = 6
set ins_gravity_cmss = 982.681
set acc_hardware = ICM42605
set acczero_x = -8
set acczero_y = -6
set acczero_z = 16
set accgain_x = 4109
set accgain_y = 4103
set accgain_z = 4108
set align_mag = CW270FLIP
set mag_hardware = NONE
set baro_hardware = DPS310
set serialrx_provider = CRSF
set motor_pwm_protocol = DSHOT300
set motor_poles = 12
set failsafe_procedure = RTH
set align_board_yaw = 1800
set small_angle = 180
set applied_defaults = 4
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set gps_ublox_use_glonass = ON
set deadband = 2
set yaw_deadband = 2
set airmode_type = STICK_CENTER_ONCE
set inav_use_gps_no_baro = OFF
set nav_wp_radius = 5000
set nav_wp_max_safe_distance = 500
set nav_rth_allow_landing = FS_ONLY
set nav_rth_altitude = 5000
set nav_fw_bank_angle = 45
set nav_fw_control_smoothness = 2
set nav_fw_launch_max_angle = 80
set nav_fw_launch_idle_motor_delay = 500
set nav_fw_launch_motor_delay = 100
set nav_fw_launch_min_time = 2000
set nav_fw_launch_timeout = 10000
set nav_fw_launch_max_altitude = 5000
set nav_fw_launch_climb_angle = 30
set osd_video_system = AVATAR
set osd_time_alarm = 15
set osd_alt_alarm = 400
set osd_dist_alarm = 2000
set osd_crosshairs_style = TYPE6
set osd_crsf_lq_format = TYPE2
set osd_failsafe_switch_layout = ON
set i2c_speed = 800KHZ
set name = STORMBIRD
set pilot_name = PELADO FPV
set vtx_band = 5
set vtx_channel = 8
set vtx_power = 5
set dshot_beeper_enabled = OFF
# mixer_profile
mixer_profile 1
set platform_type = AIRPLANE
set model_preview_type = 8
set motorstop_on_low = ON
# Mixer: motor mixer
mmix reset
mmix 0 1.000 0.000 0.000 0.000
# Mixer: servo mixer
smix reset
smix 0 1 0 50 0 -1
smix 1 1 1 50 0 -1
smix 2 2 0 -50 0 -1
smix 3 2 1 50 0 -1
# mixer_profile
mixer_profile 2
# Mixer: motor mixer
# Mixer: servo mixer
# profile
profile 1
set fw_p_pitch = 15
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 255
set fw_p_roll = 15
set fw_i_roll = 3
set fw_d_roll = 7
set fw_ff_roll = 73
set fw_p_yaw = 20
set fw_i_yaw = 0
set fw_d_yaw = 20
set fw_ff_yaw = 100
set max_angle_inclination_rll = 550
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain = 0.300
set nav_fw_pos_z_p = 35
set nav_fw_pos_z_d = 8
set nav_fw_pos_xy_p = 70
set d_boost_min = 1.000
set d_boost_max = 1.000
set fw_level_pitch_trim = 1.000
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 18
set pitch_rate = 10
set yaw_rate = 3
# profile
profile 2
# profile
profile 3
# battery_profile
battery_profile 1
set vbat_max_cell_voltage = 410
set vbat_min_cell_voltage = 300
set vbat_warning_cell_voltage = 330
set throttle_idle = 5.000
set nav_fw_launch_idle_thr = 1150
# 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
#