atomrc_dolphin.ini

diff all

# version
# INAV/ATOMRCF405NAVI 7.1.0 Feb 14 2024 / 14:10:39 (49325426)
# GCC-10.3.1 20210824 (release)

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# Timer overrides
timer_output_mode 0 MOTORS
timer_output_mode 7 SERVOS

# Outputs [servo]
servo 1 1200 1900 1600 -100
servo 2 1200 1900 1364 100

# safehome
safehome 0 1 456475360 145441217

# Fixed Wing Approach
fwapproach 0 4000 500 0 129 -220 0
fwapproach 8 6000 500 0 0 0 0

# features
feature -BLACKBOX
feature GPS
feature PWM_OUTPUT_ENABLE
feature FW_LAUNCH
feature FW_AUTOTRIM

# beeper

# 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 0 115200 115200 0 115200
serial 1 0 115200 115200 0 115200
serial 2 64 115200 115200 0 115200
serial 3 2 115200 115200 0 115200
serial 4 33554432 115200 115200 0 115200

# LEDs

# LED color

# LED mode_color

# Modes [aux]
aux 0 0 0 1900 2100
aux 1 2 1 1300 1700
aux 2 53 1 1800 2100
aux 3 11 2 900 1200
aux 4 10 2 1800 2100
aux 5 21 3 1800 2100
aux 6 13 3 1800 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 1 valid
wp 0 8 456489755 145419604 5000 0 0 0 165

# OSD [osd_layout]
osd_layout 0 0 23 0 H
osd_layout 0 1 4 14 H
osd_layout 0 2 0 0 V
osd_layout 0 3 8 6 V
osd_layout 0 4 8 6 V
osd_layout 0 6 24 12 H
osd_layout 0 7 3 2 V
osd_layout 0 8 27 0 H
osd_layout 0 9 20 4 V
osd_layout 0 10 2 3 H
osd_layout 0 11 8 14 V
osd_layout 0 12 3 15 V
osd_layout 0 13 28 4 H
osd_layout 0 14 40 15 V
osd_layout 0 15 20 3 V
osd_layout 0 20 11 0 H
osd_layout 0 21 0 0 H
osd_layout 0 22 26 3 V
osd_layout 0 23 28 3 V
osd_layout 0 24 25 4 H
osd_layout 0 25 34 8 V
osd_layout 0 26 35 10 V
osd_layout 0 27 28 4 V
osd_layout 0 28 3 17 V
osd_layout 0 30 12 17 V
osd_layout 0 31 46 17 V
osd_layout 0 32 3 14 V
osd_layout 0 34 22 2 V
osd_layout 0 35 8 15 V
osd_layout 0 40 3 10 V
osd_layout 0 41 36 8 H
osd_layout 0 42 36 9 H
osd_layout 0 46 3 8 V
osd_layout 0 47 3 9 V
osd_layout 0 48 24 10 H
osd_layout 0 85 33 6 H
osd_layout 0 86 45 15 H
osd_layout 0 87 40 17 V
osd_layout 0 96 44 15 V
osd_layout 0 97 37 16 V
osd_layout 0 105 2 3 H
osd_layout 0 110 3 3 V
osd_layout 0 112 3 4 H
osd_layout 0 129 22 1 H
osd_layout 0 130 1 4 H
osd_layout 0 147 24 16 H

# Programming: logic
logic 1 0 0 0 0 0 0 0 0
logic 2 0 0 0 0 0 0 0 0

# Programming: global variables

# Programming: PID controllers

# OSD: custom elements

# master
set gyro_main_lpf_hz = 25
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set gyro_zero_x = 2
set gyro_zero_y = 5
set gyro_zero_z = 5
set ins_gravity_cmss =  982.360
set acc_hardware = BMI270
set acczero_x = 14
set acczero_y = 20
set acczero_z = 16
set accgain_x = 4061
set accgain_y = 4063
set accgain_z = 4049
set align_mag = CW180FLIP
set mag_hardware = QMC5883
set magzero_x = 42
set magzero_y = -843
set magzero_z = 441
set maggain_x = 1273
set maggain_y = 1353
set maggain_z = 1446
set baro_hardware = SPL06
set pitot_hardware = VIRTUAL
set serialrx_provider = CRSF
set serialrx_halfduplex = OFF
set motor_pwm_protocol = DSHOT300
set failsafe_procedure = RTH
set servo_pwm_rate = 330
set small_angle = 180
set applied_defaults = 4
set gps_sbas_mode = EGNOS
set gps_ublox_use_galileo = ON
set gps_ublox_use_glonass = ON
set airmode_type = STICK_CENTER_ONCE
set nav_wp_load_on_boot = ON
set nav_wp_radius = 1000
set nav_wp_max_safe_distance = 500
set nav_fw_wp_turn_smoothing = ON
set nav_rth_climb_first_stage_mode = EXTRA
set nav_rth_climb_first_stage_altitude = 5000
set nav_rth_alt_control_override = ON
set nav_rth_abort_threshold = 65000
set nav_rth_altitude = 3000
set nav_rth_home_altitude = 3000
set nav_rth_use_linear_descent = ON
set safehome_max_distance = 50000
set nav_fw_bank_angle = 55
set nav_fw_loiter_radius = 5000
set nav_fw_control_smoothness = 2
set nav_fw_launch_velocity = 150
set nav_fw_launch_accel = 1500
set nav_fw_launch_max_angle = 180
set nav_fw_launch_motor_delay = 100
set nav_fw_launch_timeout = 10000
set nav_fw_launch_climb_angle = 20
set nav_fw_allow_manual_thr_increase = ON
set osd_video_system = AVATAR
set osd_time_alarm = 30
set osd_alt_alarm = 3000
set osd_dist_alarm = 10000
set osd_current_alarm = 35
set osd_airspeed_alarm_min =  833.000
set osd_airspeed_alarm_max =  5556.000
set osd_crosshairs_style = AIRCRAFT
set osd_plus_code_digits = 13
set i2c_speed = 800KHZ
set name = ACRD
set tz_offset = 60
set tz_automatic_dst = EU
set nav_fw_land_approach_length = 20000

# 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 = 10
set fw_i_pitch = 20
set fw_d_pitch = 5
set fw_ff_pitch = 255
set fw_p_roll = 4
set fw_i_roll = 12
set fw_d_roll = 6
set fw_ff_roll = 76
set fw_p_yaw = 20
set fw_i_yaw = 0
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_xy_p = 70
set d_boost_min =  1.000
set d_boost_max =  1.000
set fw_level_pitch_trim =  4.000
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 16
set pitch_rate = 4
set yaw_rate = 3

# profile
profile 2


# profile
profile 3


# battery_profile
battery_profile 1

set vbat_cell_detect_voltage = 435
set vbat_max_cell_voltage = 430
set vbat_min_cell_voltage = 290
set vbat_warning_cell_voltage = 340
set battery_capacity = 2200
set battery_capacity_warning = 550
set battery_capacity_critical = 330
set throttle_idle =  5.000
set nav_fw_cruise_thr = 1320
set nav_fw_min_thr = 1300
set nav_fw_max_thr = 1800
set nav_fw_launch_thr = 1750
set nav_fw_launch_idle_thr = 1300

# 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

#