
# master
set gyro_hardware_lpf = NORMAL
set gyro_lpf1_type = PT1
set gyro_lpf1_static_hz = 150
set gyro_lpf2_type = PT1
set gyro_lpf2_static_hz = 300
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 0
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 0
set gyro_calib_duration = 125
set gyro_calib_noise_limit = 48
set gyro_offset_yaw = 0
set gyro_overflow_detect = ALL
set yaw_spin_recovery = AUTO
set yaw_spin_threshold = 1950
set gyro_to_use = FIRST
set dyn_notch_count = 3
set dyn_notch_q = 500
set dyn_notch_min_hz = 25
set dyn_notch_max_hz = 550
set gyro_lpf1_dyn_min_hz = 150
set gyro_lpf1_dyn_max_hz = 300
set gyro_lpf1_dyn_expo = 5
set gyro_filter_debug_axis = ROLL
set acc_hardware = AUTO
set acc_lpf_hz = 25
set acc_trim_pitch = 0
set acc_trim_roll = 0
set acc_calibration = -23,15,16,1

set rc_smoothing = ON
set rc_smoothing_auto_factor = 25
set rc_smoothing_auto_factor_throttle = 25
set rc_smoothing_setpoint_cutoff = 0
set rc_smoothing_feedforward_cutoff = 0
set rc_smoothing_throttle_cutoff = 0
set rc_smoothing_debug_axis = ROLL

set airmode_start_throttle_percent = 25

set min_throttle = 1070
set max_throttle = 2000
set min_command = 1000

set dshot_idle_value = 550
set dshot_burst = ON
set dshot_bidir = ON
set dshot_edt = OFF
set dshot_bitbang = AUTO
set dshot_bitbang_timer = AUTO
set use_unsynced_pwm = OFF
set motor_pwm_protocol = DSHOT300
set motor_pwm_rate = 480
set motor_pwm_inversion = OFF
set motor_poles = 14
set motor_output_reordering = 0,1,2,3,4,5,6,7
set thr_corr_value = 0
set thr_corr_angle = 800

set yaw_motors_reversed = ON
set mixer_type = LEGACY

set rpm_limit = OFF
set rpm_limit_p = 25
set rpm_limit_i = 10
set rpm_limit_d = 8
set rpm_limit_value = 18000
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set 3d_limit_low = 1000
set 3d_limit_high = 2000
set 3d_switched_mode = OFF
set servo_center_pulse = 1500
set servo_pwm_rate = 50
set servo_lowpass_hz = 0
set tri_unarmed_servo = ON

set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set small_angle = 180
set imu_process_denom = 2
set mag_declination = 0
set gyro_cal_on_first_arm = OFF

set deadband = 0
set yaw_deadband = 0
set yaw_control_reversed = OFF
set pid_process_denom = 2
set runaway_takeoff_prevention = ON
set runaway_takeoff_deactivate_delay = 500
set runaway_takeoff_deactivate_throttle_percent = 20
set simplified_gyro_filter = ON
set simplified_gyro_filter_multiplier = 60


set rpm_filter_harmonics = 3
set rpm_filter_weights = 100,100,100
set rpm_filter_q = 500
set rpm_filter_min_hz = 30
set rpm_filter_fade_range_hz = 50
set rpm_filter_lpf_hz = 150
set stats_min_armed_time_s = -1
set stats_total_flights = 0
set stats_total_time_s = 0
set stats_total_dist_m = 0
set stats_mah_used = 0
set craft_name = 603700-10
set pilot_name = -
set altitude_source = DEFAULT
set altitude_prefer_baro = 100
set altitude_lpf = 300
set altitude_d_lpf = 100
set box_user_1_name = -
set box_user_2_name = -
set box_user_3_name = -
set box_user_4_name = -

profile 0

# profile 0
set profile_name = -
set dterm_lpf1_dyn_min_hz = 67
set dterm_lpf1_dyn_max_hz = 135
set dterm_lpf1_dyn_expo = 5
set dterm_lpf1_type = PT1
set dterm_lpf1_static_hz = 67
set dterm_lpf2_type = PT1
set dterm_lpf2_static_hz = 135
set dterm_notch_hz = 0
set dterm_notch_cutoff = 0
set vbat_sag_compensation = 0
set pid_at_min_throttle = ON
set anti_gravity_gain = 110
set anti_gravity_cutoff_hz = 5
set anti_gravity_p_gain = 100
set acc_limit_yaw = 0
set acc_limit = 0
set iterm_rotation = OFF
set iterm_relax = RP
set iterm_relax_type = SETPOINT
set iterm_relax_cutoff = 10
set iterm_windup = 85
set iterm_limit = 400
set pidsum_limit = 1000
set pidsum_limit_yaw = 1000
set yaw_lowpass_hz = 50
set throttle_boost = 5
set throttle_boost_cutoff = 15
set p_pitch = 65
set i_pitch = 117
set d_pitch = 57
set f_pitch = 87
set p_roll = 63
set i_roll = 112
set d_roll = 50
set f_roll = 84
set p_yaw = 63
set i_yaw = 112
set d_yaw = 0
set f_yaw = 84
set angle_p_gain = 50
set angle_feedforward = 50
set angle_feedforward_smoothing_ms = 80
set angle_limit = 60
set angle_earth_ref = 100
set horizon_level_strength = 75
set horizon_limit_sticks = 75
set horizon_limit_degrees = 135
set horizon_ignore_sticks = OFF
set horizon_delay_ms = 500
set abs_control_gain = 0
set abs_control_limit = 90
set abs_control_error_limit = 20
set abs_control_cutoff = 11
set use_integrated_yaw = OFF
set integrated_yaw_relax = 200
set d_min_roll = 50
set d_min_pitch = 57
set d_min_yaw = 0
set d_max_gain = 37
set d_max_advance = 20
set motor_output_limit = 100
set auto_profile_cell_count = 0
set launch_control_mode = NORMAL
set launch_trigger_allow_reset = ON
set launch_trigger_throttle_percent = 20
set launch_angle_limit = 0
set launch_control_gain = 40
set thrust_linear = 0
set transient_throttle_limit = 0
set feedforward_transition = 0
set feedforward_averaging = OFF
set feedforward_smooth_factor = 25
set feedforward_jitter_factor = 11
set feedforward_boost = 15
set feedforward_max_rate_limit = 90
set dyn_idle_min_rpm = 35
set dyn_idle_p_gain = 50
set dyn_idle_i_gain = 50
set dyn_idle_d_gain = 50
set dyn_idle_max_increase = 150
set dyn_idle_start_increase = 50
set level_race_mode = OFF
set simplified_pids_mode = RPY
set simplified_master_multiplier = 140
set simplified_i_gain = 100
set simplified_d_gain = 120
set simplified_pi_gain = 100
set simplified_dmax_gain = 0
set simplified_feedforward_gain = 50
set simplified_pitch_d_gain = 100
set simplified_pitch_pi_gain = 100
set simplified_dterm_filter = ON
set simplified_dterm_filter_multiplier = 90
set tpa_mode = D
set tpa_rate = 65
set tpa_breakpoint = 1350
set tpa_low_rate = 20
set tpa_low_breakpoint = 1050
set tpa_low_always = OFF
set ez_landing_threshold = 25
set ez_landing_limit = 5
set ez_landing_speed = 50

rateprofile 0

# rateprofile 0
set rateprofile_name = -
set thr_mid = 50
set thr_expo = 0
set rates_type = ACTUAL
set quickrates_rc_expo = OFF
set roll_rc_rate = 7
set pitch_rc_rate = 7
set yaw_rc_rate = 7
set roll_expo = 0
set pitch_expo = 0
set yaw_expo = 0
set roll_srate = 67
set pitch_srate = 67
set yaw_srate = 67
set throttle_limit_type = OFF
set throttle_limit_percent = 100
set roll_rate_limit = 1998
set pitch_rate_limit = 1998
set yaw_rate_limit = 1998

# end the command batch
batch end

# 